Automatic Viewpoint Planning in Teleoperation of a Mobile Robot
Automatic Viewpoint Planning in Teleoperation of a Mobile Robot
复制标题
移动机器人遥操作中的自动视点规划
DOI：
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发表时间：
2014
影响因子：
3.3
通讯作者：
S. Sirouspour
中科院分区：
文献类型：
--
作者：
Saman Rahnamaei;S. Sirouspour
遥操作中摄像机视角对操作者的态势感知有重要影响。本文提出了一种在具有可控摄像机平台的远程导航移动的机器人系统中实现单摄像机自动优化定位的方法。该算法根据任务环境不断调整工作空间的摄像机视图，使操作员能够专注于导航和操作。通过实时制定和求解约束优化问题，在相机视图规划中考虑相机系统的工作空间和运动限制以及障碍物的位置。头部跟踪系统使操作员能够使用他/她的头部运动作为额外的控制输入，以指导相机的位置，如果必要的话。所提出的观点控制框架已实施和评价的遥操作实验与移动的机器人。用户研究的结果比较这种方法，其他两种常见的观点控制策略也报告。
Camera viewpoint has significant impact on operators situation awareness in teleoperation. This paper presents a method for automatic optimal positioning of a single camera for a remotely navigated mobile robot in systems with a controllable camera platform. The proposed algorithm continuously adjusts the camera view of the workspace based on the task circumstances, allowing the operator to focus mainly on navigation and manipulation. The workspace and motion limits of the camera system and the location of the obstacles are taken into consideration in the camera view planning by formulating and solving a constrained optimization problem in real-time. A head tracking system enables the operator to use his/her head movements as an extra control input to guide the camera placement, if and when necessary. The proposed viewpoint control framework has been implemented and evaluated in a teleoperation experiment with a mobile robot. Results of a user study comparing this approach to two other common viewpoint control strategies are also reported.