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