Study on effective camera images for mobile robot teleoperation

Shiroma, Naoji; Sato, Noritaka; Chiu, Yu-huan; Matsuno, Fumitoshi

doi:10.1109/roman.2004.1374738

Cited by 44 publications

(23 citation statements)

References 5 publications

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“…Rather than transmitting live video and moving the camera about the scene, photographs are taken from a single spot with plans to capture as much of the surrounding scene as possible. These photographs are either taken with an omnidirectional overhead camera (camera facing upward to a convex mirror reflecting 360 • ) and dewarped [13,18] or stitched together from multiple pictures from a ptz camera [20] to provide a panorama guaranteeing complete coverage of the scene from a particular point. If these points are well chosen, a collection of panoramas can cover an area to be searched with greater certainty than imagery captured with a ptz camera during navigation.…”

Section: Asynchronous Imagerymentioning

confidence: 99%

Synchronous vs. Asynchronous Video in Multi-robot Search

Velagapudi

Wang

et al. 2008

First International Conference on Advances in Computer-Human Interaction

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Camera guided teleoperation has long been the preferred mode for controlling remote robots, with other modes such as asynchronous control only used when unavoidable. In this experiment we evaluate the usefulness of asynchronous operation for a multirobot search task. Because controlling multiple robots places additional demands on the operator, removing the forced pace for reviewing camera video might reduce workload and improve performance. In the reported experiment participants operated four robot teams performing a simulated urban search and rescue (USAR) task using either conventional streaming video plus a map interface or an experimental interface without streaming video but with the ability to store panoramic images on the map to be viewed at leisure. Search performance was somewhat better using the conventional interface, however, ancillary measures suggest that the asynchronous interface succeeded in reducing temporal demands for switching between robots.

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Section: Asynchronous Imagerymentioning

confidence: 99%

Synchronous vs. Asynchronous Video in Multi-robot Search

Velagapudi

Wang

et al. 2008

First International Conference on Advances in Computer-Human Interaction

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“…Murakami et al [9] have reported that the robot control performance had improved when cameras were installed on the ceiling so that the operator could get a bird's-eye view image of the place where that robot was located. Shiroma et al [10] also have reported that installing an omni-view camera or a fish-eye camera on top of the robot enables the operator to get complete information about the situation and improves the task performance. Installing cameras in the ways discussed above has reduced the number of times the robot bumped into objects in the environment and has reduced the number of commands that the operator had to send to the robot to complete a task.…”

Section: Problem Of Lack Of Situation Awarenessmentioning

confidence: 99%

An Object-Defined Remote Robot Control Interface

Suzuki

Terashima

Takeuchi

et al. 2013

Journal of Information Processing

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Abstract:In this paper, the authors propose a new remote robot control interface that reduces the complexity of robot control. The proposed interface constraints the robot's movements depending on the target object that the operator wants to observe. The interface displays the constraints to the operator on a screen with the help of Augmented Reality (AR) technology. We named the interface "Object-defined remote robot control interface" because the interface provides suitable procedures for the objects that need to be operated on. The interface receives information about the robot and candidate objects from a camera that has been set up to capture a bird's-eye view of the target environment and displays this information on a touch screen display. When the operator selects an object as the target by touching it on the display, constrained tracks for the robot's movements and their corresponding AR representations are generated on the screen. A block assembly task was conducted to evaluate this interface. The results showed the system's effectiveness in terms of both task completion time and operation time.

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“…[1] Because it is still difficult to develop autonomous mobile robots that function well in real environments with current robot technologies, a system structure that a human operator is remotely controlling a robot is one of realistic solutions that works well in real environments. [2,3] Cameras can provide easily understandable information for human graphically rather than other types of sensors. Many studies on robot teleoperation have been investigated to help an operator easily perceive visual information.…”

Section: Introductionmentioning

confidence: 99%

“…Image stabilization system for robot teleoperation is incorporated to overcome this problem in [7][8][9][10][11]. Effective camera placement for robot teleoperation is studied in [3,12]. Synthesized third-person's-view images are used to easily understand robot situation and its surroundings in [13].…”

Section: Introductionmentioning

confidence: 99%

Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

Shiroma¹,

Miyauchi²,

NAGAFUSA³

et al. 2015

Advanced Robotics

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In robot teleoperation, a robot works as a physical agent at a remote site for a robot operator. There are mainly two tasks in robot teleoperation using camera images: environment recognition using visual information and robot control according to the recognition. In this paper, we propose a gaze direction based vehicle teleoperation method with an omnidirectional image stabilization and an automatic body rotation control. In the proposed method, we manage above two tasks in the same manner that are usually treated separately. This method is an intuitive vehicle teleoperation method where an operator do not need to have concern about vehicle body orientations and can absorb differences of vehicle driving mechanisms. That is, this method frees an operator from being bothered from controlling a vehicle and the operator can concentrate on where he/she intends to go. This method mainly consists of two technologies: an omnidirectional image stabilization technology and automatic body rotation control. The conducted experiments show effectiveness of the proposed method.

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Study on effective camera images for mobile robot teleoperation

Cited by 44 publications

References 5 publications

Synchronous vs. Asynchronous Video in Multi-robot Search

Synchronous vs. Asynchronous Video in Multi-robot Search

An Object-Defined Remote Robot Control Interface

Gaze direction based vehicle teleoperation method with omnidirectional image stabilization and automatic body rotation control

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