カメラ配置設計による故障時に備えたロボット遠隔操作のための俯瞰映像提示システムの開発

• 小松 廉

  東京大学大学院

• 藤井 浩光

  東京大学大学院

• 山下 淳

  東京大学大学院

• 淺間 一

  東京大学大学院

書誌事項

タイトル別名

• Development of Bird's-eye View System for Teleoperated Robot in Camera Troubles with Arrangement Design of Camera

抄録

This paper describes a new method for improving fault tolerance of bird's-eye view systems that are used to teleoperate robots. The bird's-eye view image helps an operator understand the surroundings easily and teleoperate the robot more accurately. The image is created by synthesizing multiple images captured by the cameras that are attached to the teleoperated robot. With a conventional method, if a camera does not work well, blind spots occur in the bird's-eye view image, and it causes difficulties in the teleoperation of the robot. This paper presents a new camera arrangement method so that camera can capture the area required for the bird's-eye view generation in case of camera troubles, and the bird's-eye view image is created by using images captured by only cameras that are not failed. Experimental results show the effectiveness of the proposed method.

収録刊行物

• 精密工学会誌

  精密工学会誌 81 (12), 1206-1212, 2015

  公益社団法人 精密工学会

キーワード

• camera troubles
• fault tolerance
• bird's-eye view
• teleoperation
• camera arrangement

詳細情報

• CRID: 1390282679805320064
• NII論文ID: 130005111866
• DOI: 10.2493/jjspe.81.1206
• ISSN: 1882675X
• ISSN: 09120289
• Web Site: https://www.jstage.jst.go.jp/article/jjspe/81/12/81_1206/_pdf
• 本文言語コード: ja
• データソース種別:
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  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可