Multiple human tracking is widely used in various fields such as marketing and surveillance. The typical approach associates human detection results between consecutive frames using the features and bounding boxes (position+size) of detected humans. Some methods use an omnidirectional camera to cover a wider area, but ID switch often occurs in association with detections due to following two factors: i) The feature is adversely affected because the bounding box includes many background regions when a human is captured from an oblique angle. ii) The position and size change dramatically between consecutive frames because the distance metric is non-uniform in an omnidirectional image. In this paper, we propose a novel method that accurately tracks humans with an association metric for omnidirectional images. The proposed method has two key points: i) For feature extraction, we introduce local rectification, which reduces the effect of background regions in the bounding box. ii) For distance calculation, we describe the positions in a world coordinate system where the distance metric is uniform. In the experiments, we confirmed that the Multiple Object Tracking Accuracy (MOTA) improved 3.3 in the LargeRoom dataset and improved 2.3 in the SmallRoom dataset.

Thanks to the ability to bring immersive experiences to users, Virtual Reality (VR) technologies have been gaining popularity in recent years. A key component in VR systems is omnidirectional content, which can provide 360-degree views of scenes. However, at a given time, only a portion of the full omnidirectional content, called viewport, is displayed corresponding to the user's current viewing direction. In this work, we first develop Weighted-Viewport PSNR (W-VPSNR), an objective quality metric for quality assessment of omnidirectional content. The proposed metric takes into account the foveation feature of the human visual system. Then, we build a subjective database consisting of 72 stimuli with spatial varying viewport quality. By using this database, an evaluation of the proposed metric and four conventional metrics is conducted. Experiment results show that the W-VPSNR metric well correlates with the mean opinion scores (MOS) and outperforms the conventional metrics. Also, it is found that the conventional metrics do not perform well for omnidirectional content.

Urban area suffers severe multipath effects due to its complex infrastructure environment and sector antenna is a popular choice as a base station antenna in those areas. Within sector antennas, omni cell antenna is utilized as supporting antenna to cover low reception areas between them. This paper proposes a slant 45° dual polarized omnidirectional antenna to operate as the omni cell antenna in those environments. The frequency band covers the IMT band, ranging from 1920MHz to 2170MHz with directivity focusing in horizontal plane. The antenna structure consists of a loop slot antenna array as excitation element which is placed inside a cylindrical slot antenna as parasitic element. Good performance is achieved in both S-parameter and directivity results, with a gain of more than 4 dBi and a gain difference of less than 1.5dB. The measurement results also agree well with the simulation results and the final design confirms that the proposed antenna works effectively as a slant ±45 ° dual polarized omnidirectional antenna.

In this paper, we propose a method for enhancing the visibility of omnidirectional spherical images by enlarging the foreground and compressing the background without provoking a sense of visual incompatibility by using a simplified spring model.

This paper improves radiation patterns and impedance matching of a broadband sleeve dipole antenna. A broadband sleeve dipole antenna is designed and the effect of the structure parameters on the |S11| characteristics is calculated. Current distributions of the resonance frequencies are calculated. A broadband sleeve dipole antenna with plate element is proposed. Better impedance matching is obtained by adjusting the size of the plate element. The nulls of the radiation patterns are reduced at high frequencies and the gain in the horizontal direction is improved.

This paper presents an electrically small and circularly polarized antenna with an omnidirectional radiation pattern. The antenna consists of a horizontal loop element enclosed by two U-shaped elements and a vertical element from the feeding point. The radiation pattern of the circular polarization is omnidirectional and has a maximum gain of -2dBic in parallel to the ground plane at the 900MHz band. The antenna dimensions are 48 × 20 × 13.8mm (0.14λ × 0.06λ × 0.04λ) with ka =0.476 (i.e. < 0.5), where k is the wavenumber at the resonant frequency and a is the radius of a sphere surrounding the antenna. The dimension corresponds to the definition of an electrically small antenna. The omnidirectional circularly polarized pattern of a prototype antenna shows good agreement with that of the simulation. In addition, this paper introduces a mechanism that generates omnidirectional circular polarization from electrically small antennas.

For fast egomotion of a camera, computing feature correspondence and motion parameters by global search becomes highly time-consuming. Therefore, the complexity of the estimation needs to be reduced for real-time applications. In this paper, we propose a compound omnidirectional vision sensor and an algorithm for estimating its fast egomotion. The proposed sensor has both multi-baselines and a large field of view (FOV). Our method uses the multi-baseline stereo vision capability to classify feature points as near or far features. After the classification, we can estimate the camera rotation and translation separately by using random sample consensus (RANSAC) to reduce the computational complexity. The large FOV also improves the robustness since the translation and rotation are clearly distinguished. To date, there has been no work on combining multi-baseline stereo with large FOV characteristics for estimation, even though these characteristics are individually are important in improving egomotion estimation. Experiments showed that the proposed method is robust and produces reasonable accuracy in real time for fast motion of the sensor.

This paper proposes a robust omnidirectional audio-visual (AV) talker localizer for AV applications. The proposed localizer consists of two innovations. One of them is robust omnidirectional audio and visual features. The direction of arrival (DOA) estimation using an equilateral triangular microphone array, and human position estimation using an omnidirectional video camera extract the AV features. The other is a dynamic fusion of the AV features. The validity criterion, called the audio- or visual-localization counter, validates each audio- or visual-feature. The reliability criterion, called the speech arriving evaluator, acts as a dynamic weight to eliminate any prior statistical properties from its fusion procedure. The proposed localizer can compatibly achieve talker localization in a speech activity and user localization in a non-speech activity under the identical fusion rule. Talker localization experiments were conducted in an actual room to evaluate the effectiveness of the proposed localizer. The results confirmed that the talker localization performance of the proposed AV localizer using the validity and reliability criteria is superior to that of conventional localizers.

In order to navigate a mobile robot or an autonomous vehicle in indoor environment, which includes several kinds of obstacles such as walls, furniture, and humans, the distance between the mobile robot and the obstacles have to be determined. These obstacles can be considered as walls with complicated edges. This paper proposes a mobile-robot-navigation method by using the polar coordinate transformation from an omnidirectional image. The omnidirectional image is obtained from a hyperboloidal mirror, which has the prominent feature in sensing the surrounding image at the same time. When the wall image from the camera is transformed by the transformation, the straight lines between the wall and the floor appear in the curve line after transformation. The peak point represents the distance and the direction between the robot and the wall. In addition, the wall types can be classified by the pattern and number of peak points. They are one side wall, corridor and corner. To navigate the mobile robot, in this paper, it starts with comparing a peak point obtained from the real image with the reference point determined by designed distance and direction. If there is a difference between the two points, the system will compute appropriate wheel angle to adjust the distance and direction against the wall by keeping the peak point in the same position as the reference point. The experiments are performed on the prototype mobile robot. The results show that for the determining distance from the robot to the wall between 70-290 cm, the average error is 6.23 percent. For three types of the wall classification, this method can correctly classify 86.67 percent of 15 image samples. In the robot movement alongside the wall, the system approximately consumes the 3 frame/s processing time at 10 cm/s motion speed. The mobile robot can maintain its motion alongside the wall with the average error 12 cm from reference distance.

The goal of this paper is to present a critical survey of existing literature on an omnidirectional sensing. The area of vision application such as autonomous robot navigation, telepresence and virtual reality is expanding by use of a camera with a wide angle of view. In particular, a real-time omnidirectional camera with a single center of projection is suitable for analyzing and monitoring, because we can easily generate any desired image projected on any designated image plane, such as a pure perspective image or a panoramic image, from the omnidirectional input image. In this paper, I review designs and principles of existing omnidirectional cameras, which can acquire an omnidirectional (360 degrees) field of view, and their applications in fields of autonomous robot navigation, telepresence, remote surveillance and virtual reality.

In outdoor fields such as construction, mining and agriculture, there is an increasing demand for autonomous vehicles to reduce labor costs. Also, a positioning system is one key technology required for autonomous vehicle systems. For the purpose of expanding the potential of millimeter-wave applications, we have developed a positioning system in the 77-79 GHz frequency band, using the hyperbolic radio navigation method. This system operates in a restricted area with a radius of about a few hundred meters. A spread spectrum with a PN code is used as the ranging signals. We realized about 0.1 m in positioning accuracy.

A circularly polarized omnidirectional antenna consisting of a vertical sleeve dipole and three pairs of titled parasitic elements set around it is proposed. The antenna is useful to mobile communication because the use of circular polarization allows us to suppress the effect of multi-path reflection waves (inverse rotation) caused by building walls and surface of the ground. The antenna with an omnidirectional pattern has a simple structure without a feeding network for radiating circular polarization. To understand the radiation characteristics of the proposed antenna, an approximation theory using the induced electromotive force method is introduced. As an example, using a fixed spacing of a quarter wave-length between the vertical dipole and the parasitic elements, the possibility of generation of circular polarization is examined. Then the computational results of the axial ratio and the input impedance are compared with the results of the numerical analysis using the moment method and the experimental result. The radiation characteristics of the antenna can be understood by using the approximation theory introduced here. As a summary of the study, the contour map of the axial ratio of circular polarization is depicted using the moment method. For practical design of this antenna, a small correction factor should be multiplied to the calculated results. From the experimental results, the proposed antenna has a gain of 2 dBi and 3 dB band-width with an axial ratio of about 8%.

An omnidirectional microstrip antenna using a parasitic cylinder is presented. A rectangular patch is formed on a dielectric substrate and it's completely covered with an aluminum cylinder which is somewhat shorter than a half of free space wavelength. Under such configuration the aluminum cylinder works as a parasitic element. This antenna can provides uniform omnidirectional radiation patterns and a broad frequency bandwidth. In this paper an experimental method for designing such an element is described. Measured input impedance characteristics, current distribution around the surface of the cylinder and patterns are also shown. By properly adjusting the coupling intensity between the patch and the parasitic cylinder a broad bandwidth antenna element can be realized. Some methods to adjust the coupling intensity are shown. A wide bandwidth element up to 14% for VSWR1.5 is obtained. Arranging many patches lengthways on a substrate and placing metallic cylinders around each patches, we can realize a high-gain and broad bandwidth collinear antenna.

We have proposed a new omnidirectional image sensor COPIS (COnic Projection Image Sensor) for guiding navigation of a mobile robot. Its feature is passive sensing of the omnidirectional image of the environment in real-time (at the frame rate of a TV camera) using a conic mirror. COPIS is a suitable sensor for visual navigation in real world environment with moving objects. This paper describes a method for estimating the location and the motion of the robot by detecting the azimuth of each object in the omnidirectional image. In this method, the azimuth is matched with the given environmental map. The robot can always estimate its own location and motion precisely because COPIS observes a 360 degree view around the robot even if all edges are not extracted correctly from the omnidirectional image. We also present a method to avoid collision against unknown obstacles and estimate their locations by detecting their azimuth changes while the robot is moving in the environment. Using the COPIS system, we performed several experiments in the real world.