画像伝送による遠隔制御のための疑似ステレオ法 Pseudo-Stereo for Remote Control of Robots by Motion Image Transfer

この論文にアクセスする

この論文をさがす

著者

抄録

In this paper we propose a new vision guided control method to move a local object on just the same trajectory of a remote object movement using their images. Our objective is: Having a motion image of a remote object movement which is transmitted or recorded, we intend to control another local object having the same shape to replay just the same movement by referring the remote image. We realize this control by visual servoing based on the image of the local object taken by a second local camera at arbitrary position. Of course, each camera has respective own characteristics, so that the direct comparison of both images makes no sense. In this case, the two remote and local cameras seeing different but same shaped respective objects are considered to configure a "pseudo stereo" system, if both movements are just the same. In stereo system, the corresponding point pairs on respective images must hold so-called epipolar conditions. Therefore, by controlling the local object motion so that its local image points must satisfy this condition, we can make the local object to track the trajectory of the remote object movement. Experimental results promises applications of virtual replay of operations at remote location or at intervals of long time using their images.

収録刊行物

  • 日本ロボット学会誌  

    日本ロボット学会誌 17(2), 242-249, 1999-03-15 

    日本ロボット学会

参考文献:  8件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10002865695
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    4679127
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  IR  J-STAGE 
ページトップへ