ITV camera head for teleoperation activated by the eye motion of the operator.

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  • 視線連動式視覚ロボットの開発
  • シセン レンドウシキ シカク ロボット ノ カイハツ

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Abstract

An ITV camera has an important role in teleoperation. This paper describes a method of controlling an ITV camera head according to the eye motion of the operator. The camera head has 3 degrees of freedom. Controllers of the camera head are destributed and built into the mechanical parts of each joint, so that they can be free from heavy wires. The eye motion of the operator is measured by image processing of the operator's face. An image of the face is obtained by a video camera mounted on the monitor display. The camera head rotates in the same direction as the visual line of the operator, so that the target is displayd at the center of the monitor display.

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