Analysis of effective environmental-camera images using virtual environment for advanced unmanned construction
Analysis of effective environmental-camera images using virtual environment for advanced unmanned construction
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DOI：
10.1109/aim.2014.6878155
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发表时间：
2014-07
期刊：
影响因子：
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通讯作者：
Junjie Yang;Mitsuhiro Kamezaki;H. Iwata;S. Sugano
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文献类型：
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作者：
Junjie Yang;Mitsuhiro Kamezaki;H. Iwata;S. Sugano
灾害发生后，无人施工机械投入使用。与人工施工相比，由于视觉信息不完整、沟通延迟、缺乏触觉体验，时间效率较低。视觉信息是规划和判断的最基本的项目，然而，在现有的视觉系统中，甚至相机的姿态和变焦都没有调整。为了提高操作者的可视性，这些参数必须根据工作情况进行调整。因此，本研究的目的是从一些比较实验中分析有效的相机图像，作为高级视觉支持的基础研究。我们首先开发了一个虚拟现实模拟器，使实验条件更容易修改。为了有效地获得所需的图像，然后进行了两种不同的摄像机位置和系统（固定摄像机和手动可控摄像机）的实验。结果表明，在物体抓取和跟踪图像中，需要放大视图来显示机械手，以显示机械手的运动方向，在很大程度上是端点运动。实验结果还表明，与固定系统相比，采用手动系统可以提高操作精度，降低盲点率。
Unmanned construction machines are used after disasters. Compared with manned construction, time efficiency is lower because of incomplete visual information, communication delay, and lack of tactile experience. Visual information is the most fundamental items for planning and judgment, however, in current vision systems, even the posture and zoom of cameras are not adjusted. To improve operator's visibility, these parameters must be adjusted in accordance with the work situation. The purpose of this study is thus to analyze effective camera images from some comparison experiments, as a fundamental study of advanced visual support. We first developed a virtual reality simulator to enable experimental conditions to be modified easier. To effectively derive required images, experiments with two different camera positions and systems (fixed cameras and manually controllable cameras) were then conducted. The results indicate that enlarged views to show the manipulator is needed in object grasping and tracking images to show the movement direction of the manipulator is needed in largely end-point movement. The result also confirms that the operational accuracy increases and blind spot rate decreases by using the manual system, compared with fixed system.