Study of Remote Visual Servoing Control by Pseudo Stereo Method

在本研究中，我们建立了一个视觉伺服方法，用于机器人的远程控制，采用伪立体的概念。这种方法是基于立体图像原理，再现当前被控制机器人的运动，这些运动与从远程传输或保存在旧记录中的运动图像中的运动相同。本研究的目的是建立它的理论基础，并在此基础上实现一个远程控制系统，包括有效的图像传输方法和机器人控制方法。我们与商业机器人工厂的专家讨论，通过这些讨论，我们确认了我们的视觉伺服系统在生产线和其他制造领域的可用性。基于伪立体视觉的概念，构建了一个面向应用的机器人视觉遥控系统，并通过大量模拟生产现场应用的实验，验证了其可行性.通过对机器人控制和图像处理性能的实验测试，我们验证了该系统可以使用市售的高性能CPU来构建，而不需要任何高成本的专用硬件来进行所需的图像处理。有望在广泛的生产领域得到真实的应用.我们总结了伪立体的应用理论以及在研究中实现的机器人导航、机器人控制和远程图像传输技术，并发表在国际期刊、国际会议论文集和技术报告上。

In this research, we established a visual servoing method for remote control of robot employing the concept of pseudo-stereo. This method is based on stereo image principle to replay the same motions of robot currently controlled as those in a motion image transmitted from a remote place or saved in old record.Our purposes of this research were to construct its theoretical base and to realize a remote control system based on the theory including methodology for effective image transmission and robot control.We discussed with specialists in commercial factories of robots and exchanged ideas to improve the feasibility of our system.By these discussions, we acknowledged the availability of our visual servoing system in production lines and other fields of manufacturing.To summarize our three year research project ;1. We constructed an application oriented system for visual remote control of robots based on the concept of the pseudo stereo, and verified its feasibility by many experiments simulating its application of production field.2. From the experimental tests on performances of robot control and image processing, we verified that the system could be constructed using commercially available high-performance CPU, needless any high cost specialized hardware for the required image processing. It promised the real applications in wide production fields.3. We summarized the theory of an application of the pseudo stereo as well as robot navigation, robot control, and remote image transmission techniques realized in the research, and published at international journals, proceedings of international conferences and technical reports.