Development of Small-Size Multi Camera System for Snake-like Robot, and Display of Wide View-Angle Image
Development of Small-Size Multi Camera System for Snake-like Robot, and Display of Wide View-Angle Image
复制标题
蛇形机器人小型多摄像头系统开发及广视角图像显示
DOI：
10.1109/ssrr.2007.4381256
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Hiroyuki Kuwahara
中科院分区：
文献类型：
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作者：
Naoki Midorikawa;K. Ohno;S. Tadokoro;Hiroyuki Kuwahara
“IRS Souryu”是一种蛇形机器人，用于在狭窄的空间内搜索受害者。我们的目标是开发“IRS苏鱼”的多摄像头系统，并利用多摄像头系统显示广角图像，以便对其进行控制和寻找受害者。我们开发的多摄像头系统的优点是：1。2.增加多摄像头模块，增加摄像头数量。多摄像头模块很小，有4个小尺寸CMOS摄像头，3个。由于使用以太网，电缆的长度可以很容易地延长。本文介绍了利用多摄像头系统获取和显示广角视觉信息的概念。本文介绍了多摄像头系统的组成及其在IRS Souryu上的安装。我们利用配备了32台摄像机的IRS Souryu进行了受害者搜索实验。操作员无需机器人的额外移动就能找到受害者。然后，操作员也能够找到下一个开放空间来移动。我们解释实验的细节。
"IRS Souryu" is snake-like robot that is used for victim search in narrow space. We aim at development of multi camera system for "IRS Souryu" and display of wide view angle image for controlling it and searching for victims by using the multi camera system. Advantages of our developed multi camera system are that 1. The number of cameras can be increased by adding multi camera module, 2. Multi camera module is small and has 4 small-size CMOS cameras, and 3. Length of cable can be extended easily because of use of Ethernet. In this paper, we describe concept of acquisition and display of wide view-angle visual information using the multi camera system. We explain composition of multi camera system and its installation on IRS Souryu. We performed an experiment of victim searching by IRS Souryu equipped with 32 cameras. An operator was able to find a victim without extra movement of the robot. Then, the operator was also able to find the next open space to move. We explain the details of the experiment.