Ultra-wideband pulse radars are promising candidates for 3-dimensional environment measurements by autonomous robots. Estimating 3-dimensional target shapes by scanning with an omni-directional antenna is an ill-posed inverse problem. Conventional algorithms such as the synthetic aperture method or parametric algorithms have a problem in terms of their calculation times. We have clarified the existence of a reversible transform between received data and target shapes for 3-dimensional systems. Calculation times are remarkably reduced by applying this transform because it directly estimates target shapes without iterations. We propose a new algorithm based on the transform and present an application example using numerical simulations. We confirm that the proposed algorithm has sufficient accuracy and a short calculation time.

In this paper, theoretical properties of deinterlacer banks are analyzed. Deinterlacer banks are novel filter banks in the sense that a progressive video sequence is separated into two progressive video sequences of a half frame rate and, furthermore, interlaced sequences are produced as intermediate data. Unlike the conventional filter banks, our deinterlacer banks are constructed in a way unique to multidimensional systems by using invertible deinterlacers, which the authors have proposed before. The system is a kind of shift-varying filter banks and it was impossible to derive the optimal bit-allocation control without any equivalent parallel filter banks. This paper derives an equivalent polyphase matrix representation of the whole system and its equivalent parallel structure, and then shows the optimal rate allocation for the deinterlacer banks. Some experimental results justify the effectiveness of the optimal rate allocation through our theoretical analysis.

In this paper, we describe a novel focusing mechanism that uses a varifocal mirror and its application to measuring the shape of solder bumps arrayed on an LSI package board based on the shape-from-focus technique. We used a copper-alloy mirror deformed by a piezoelectric actuator as a varifocal mirror to build a simple yet fast focusing mechanism. The varifocal mirror was situated at the focal point of the image-taking lens in image space so that the lateral magnification was constant during focusing and an orthographic projection was perfectly established. The focused plane could be shifted along the optical axis with a precision of 1.4 µm in a depth range of 1.3 mm by driving the varifocal mirror. A magnification of 1.97 was maintained during focusing. Evaluating the curvature of field and removing its effect from the depth data reduced errors. The shapes of 208 solder bumps, 260 µm high and arrayed at a pitch of 500 µm on the board, were measured. The entire 10 mm10 mm board was segmented into 34 partly overlapping sections. We captured 101 images in each section with a high-resolution camera at different focal points at 15 µm intervals. The shape of almost the entire upper hemisphere of a solder bump could be measured. The error in measuring the bump heights was less than 12 µm.

Three-dimensional nanostructure fabrication has been demonstrated by 30 keV Ga+ focused-ion-beam chemical-vapor-deposition (FIB-CVD) using a phenanthrene (C14H10) source as a precursor. Microstructure plastic arts is advocated as a new field using micro-beam technology, presenting one example of micro-wine-glass with 2.75 µm external diameter and 12 µm height. The deposition film is a diamondlike amorphous carbon. A large Young's modulus that exceeds 600 GPa seems to present great possibilities for various applications. Producing of three-dimensional nanostructure is discussed. Micro-coil, nanoelectrostatic actuator, and nano-space-wiring with 0.1 µm dimension are demonstrated as parts of nanomechanical system. Furthermore, nanoinjector and nanomanipulator are also fabricated as a novel nano-tool for manipulation and analysis of subcellular organelles.

In the present paper, we propose a method for reconstructing the surfaces of objects from stereo data. Both the fitness of stereo data to surfaces and interrelation between the surfaces are defined in the framework of a three-dimensional (3-D) Markov Random Field (MRF) model. The surface reconstruction is accomplished by searching for the most likely state of the MRF model. Three experimental results are shown for synthetic and real stereo data.

We clarify the effective range of distance between the front and rear images of the depth-fused 3-D (DFD) visual illusion. The DFD visual illusion is perceived when two images with many edges in the front and rear frontal-parallel planes at different depths are overlapped from the viewpoint of an observer. We evaluated how the fusion of the DFD visual illusion depended on the difference in distance between the front and rear images when the distance between the two images was changed. Subjective tests clarified the cases where DFD can be applied.

We analyze the noise sensitivity of the focal length computation, the principal point estimation, and the orthogonality enforcement for single-view 3-D reconstruction based on vanishing points and orthogonality. We point out that due to the nonlinearity of the problem the standard statistical optimization is not very effective. We present a practical compromise for avoiding the computational failure and preserving high accuracy, allowing a consistent 3-D shape in the presence of however large noise.

In reconstructing 3-D from images based on feature points, one usually defines a triangular mesh that has these feature points as vertices and displays the scene as a polyhedron. If the scene itself is a polyhedron, however, some of the displayed edges may be inconsistent with the true shape. This paper presents a new technique for automatically eliminating such inconsistencies by using a special template. We also present a technique for removing spurious occluding edges. All the procedures do not require any thresholds to be adjusted. Using real images, we demonstrate that our method has high capability to correct inconsistencies.

An interactive 3-D sound processing system and its implementation is described, which is to provide virtual auditory environments to listeners. While conventional 3-D sound processing systems require high performance workstations or large DSP arrays, the proposed system is reduced in hardware size for practical applications. The proposed system is implemented using a prevailing IBM-compatible PC and a single DSP. Since the organization of the proposed system is independent of implementation details such as operation precision and number of audio tracks, the proposed system can be ported to various hardware entities. In addition, an easy-to-use user interface is also implemented on PC software for realtime input of 3-D sound movement. Owing to these features, the presented system is valuable as a prototype for various implementation of 3-D sound processing systems, while the current implementation is useful as a 3-D sound content production system.

We are developing a simple three-dimensional (3-D) display method that uses only two transparent images using luminance division displays without any extra equipment. This method can be applied to not only electronic displays but also the printed sheets. The method utilizes a 3-D visual illusion in which two ordinary images with many edges can be perceived as an apparent 3-D image with continuous depth between the two image planes, when two identical images are overlapped from the midpoint of the observer's eyes and their optical-density ratio is changed according to the desired image depths. We can use transparent printed sheets or transparent liquid crystal displays to display two overlapping transparent images using this 3-D display method. Subjective test results show that the perceived depths changed continuously as the optical-density ratio changed. Deviations of the perceived depths from the average for each observer were sufficiently small. The depths perceived by all six observers coincided well.

Electronic Toll Collection (ETC), an application of Dedicated Short Range Wireless Communication (DSRC), had suffered from wrong operations due to multipath problems. To solve this problem, we proposed to apply a simple configured path determination scheme for the ETC system. The system consists of a vector network analyzer, low-noise amplifier, and X-Y positioner and achieves an automatic measurement of the spatial transfer function with emphasis on accurate measurement and reproducibility. For the reliable identification of the propagating paths, 3-D Unitary ESPRIT and SAGE algorithms were employed. Having developed the system, field experiments at the toll gate of the highway was carried out. In the measurements, we could determine many propagation paths so that the dominant propagation phenomena at the toll gate was identified. They included a ground-canopy twice reflected wave, which was a potential path that caused wrong operation. Consequently, their reflection coefficients and polarization characteristics were investigated. From the results, applicability of the path determination system for short range on-site measurement was confirmed.

Feature point tracking over a video sequence fails when the points go out of the field of view or behind other objects. In this paper, we extend such interrupted tracking by imposing the constraint that under the affine camera model all feature trajectories should be in an affine space. Our method consists of iterations for optimally extending the trajectories and for optimally estimating the affine space, coupled with an outlier removal process. Using real video images, we demonstrate that our method can restore a sufficient number of trajectories for detailed 3-D reconstruction.

A high-speed 3-D camera has a future possibility of wide variety of application fields such as quick inspection of industrial components, observation of motion/destruction of a target object, and fast collision prevention. In this paper, a row-parallel position detector for a high-speed 3-D camera based on a light-section method is presented. In our row-parallel search method, the positions of activated pixels are quickly detected by a row-parallel search circuit in pixel and a row-parallel address acquisition of O(log N) cycles in N-pixel horizontal resolution. The architecture keeps high-speed position detection in high pixel resolution. We have designed and fabricated the prototype position sensor with a 12816 pixel array in 0.35 µm CMOS process. The measurement results show it achieves quick activated-position acquisition of 450 ns for "beyond-real-time" 3-D imaging and visual feedback. The high-speed position detection of the scanning sheet beam is demonstrated.

Accurately segmenting and quantifying pulmonary nodule structure is a key issue in three-dimensional (3-D) computer-aided diagnosis (CAD) schemes. This paper presents a nodule segmentation method from 3-D thoracic CT images based on a deformable surface model. In this method, first, a statistical analysis of the observed intensity is performed to measure differences between the nodule and other regions. Based on this analysis, the boundary and region information are represented by boundary and region likelihood, respectively. Second, an initial surface in the nodule is manually set. Finally, the deformable surface model moves the initial surface so that the surface provides high boundary likelihood and high posterior segmentation probability with respect to the nodule. For the purpose, the deformable surface model integrates the boundary and region information. This integration makes it possible to cope with inappropriate position or size of an initial surface in the nodule. Using the practical 3-D thoracic CT images, we demonstrate the effectiveness of the proposed method.

It is still an open problem to elucidate the scaling merits of an embedded SRAM with Low Operating Power (LOP) MOSFETs fabricated in 50, 70 and 100 nm CMOS technology nodes. Taking into account a realistic SRAM cell layout, we evaluated the parasitic capacitance of the bit line (BL) as well as the word line (WL) in each generation. By means of a 3-Dimensional (3D) interconnect simulator (Raphael), we focused on the scaling merit through a comparison of the simulated SRAM BL delay for each CMOS technology node. In this paper, we propose two kinds of original interconnect structure which modify ITRS (International Technology Roadmap for Semiconductors), and make it clear that the original interconnect structures with reduced gate overlap capacitance guarantee the scaling merits of SRAM cells fabricated with LOP MOSFETs in 50 and 70 nm CMOS technology nodes.

In this letter, we address geometry coding of 3-D mesh models. Using a joint prediction, the encoder predicts vertex positions in the layer traversal order. After we apply the joint prediction algorithm to eliminate redundancy among vertex positions using both position and angle values of neighboring triangles, we encode those prediction errors using a uniform quantizer and an entropy coder. The proposed scheme demonstrates improved coding efficiency for various VRML test data.

We propose a novel three-dimensional (3-D) display using only two 2-D images displayed at different depths. It is based on a new perceptual phenomenon induced by the human binocular visual system and enables an observer using no extra equipment to perceive an apparent 3-D image of continuous depth when the luminance is divided between the 2-D images according to the 3-D image depth. Our prototype direct-vision 3-D display using this mechanism can easily produce moving 3-D color images by using conventional 2-D color displays.

A 23.3 mm2 32 Mb embedded DRAM (eDRAM) macro has been fabricated using 0.18 µm triple-well 4-metal embedded DRAM process technology to realize an accelerated 3-D graphics controller. The array architecture, using a dual-port sense amplifier, achieves the column access latency of two cycles at 222 MHz and a peak data rate of 14.2 4 GB/s at 4 macros. The process cost has been kept low by using VT-MOS circuit technology and taking advantage of a characteristic of dual-gate oxide process technology. A tRAC of 11.6 ns at 2.0 V is achieved using a 'pre-detect redundancy' circuit.

Since the deployment of base stations (BS's) is far from optimum in 3-dimensional (3-D) space, i.e., the vertical baseline is relatively shorter than the planar baseline, the geometric degradation of precision of the altitude estimate is larger than that of the planar location. This paper considers the problem of 3-D range location and attempt to improve the altitude estimate. We first use a volume formula of tetrahedron to transform the range measurements to the volume measurements, then a novel pseudo-linear solution is proposed based on a linear relationship between the rectangular and the volume coordinates. Theory analysis and numerical examples are included to show the improved accuracy of the altitude estimate of mobile location. Finally, an improved estimate of 3-D mobile location is given by solving a set of augmented linear equations.

A novel self-alignment process using the surface tension of the liquid resin for assembly of electronic or optoelectronic devices in 3-D space has been proposed. The vertical alignment can be controlled by using of metal sphere, reducing the necessary precise process control such as solder volumes and external forces, and allowing large tolerances in liquid volume and misalignment. Lateral alignment could be also achieved by making the liquid resin constrained on the 3-dimensional pads on chip and substrate. This study focused on the principle of self-alignment and final alignment accuracy. In addition, the possibility of self-alignment process was verified by analytic numerical method and scaled-up experiment. An average alignment accuracy of less than 0.25 µm has been obtained. It is thought that this process is effective for assembly simply at low process temperature, low cost and without flux in future assembly techniques.