A Novel Teleoperation Method for a Mobile Robot Using Real Image Data Records
A Novel Teleoperation Method for a Mobile Robot Using Real Image Data Records
复制标题
一种利用真实图像数据记录的移动机器人远程操作新方法
DOI：
10.1109/robio.2004.1521782
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
F. Matsuno
中科院分区：
文献类型：
--
作者：
N. Shiroma;Georges Kagotani;M. Sugimoto;M. Inami;F. Matsuno
在本文中，我们提出了一种创新的机器人远程控制方法，该方法通过使用机器人的位置和姿态信息、存储的安装在机器人上的摄像头捕获的图像历史数据和机器人的模型来生成环境中的机器人鸟瞰图像，为操作员提供机器人的鸟瞰图像。这种方法使操作者即使在未知环境下也能很容易地识别机器人的情况，从而提高了机器人的远程操作能力。我们还提出了将合成的鸟瞰图像呈现给操作员的不同方式
In this paper we propose an innovative robot remote control method which provides the operator with a bird's-eye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the operator to easily recognize the situation of the robot even in unknown surroundings and enables the remote operation ability of a robot to be improved. We also propose the different ways of presenting the synthesized bird's-eye view images to an operator