Vision guided mobile platform for outdoor use in unstructured environment

Abstract

This paper presents a mobile robot system with vision based teleoperation for the use in unstructured outdoor environment. Our system makes use of a camera-laser combined sensor system, which gives suitable information for the operator in such unstructured environments with homogenous reflection, as the suiface of the frozen Lake Balaton. The role of the human vision is essential in visual guided teleoperation. A comprehensive overview of the human 's 3D sensing, and the role ofthe different vision cues is introduced The needfor the combined 2D-3D vision, our approach for that and the first experimental results in teleoperation are presented.

Research of interactive partial modeling technology for unstructured environments robot teleoperation

“…In other cases, the remote world is completely unstructured. In these conditions, essentially nothing might be known about the operating environment, uncertainties might be much larger, and the required procedures may vary or the constraints change according to circumstances [6]. Since such worksites can not easily be modeled, the level of control autonomy must be low and a relatively high degree of human involvement is to be expected.…”

“…Since such worksites can not easily be modeled, the level of control autonomy must be low and a relatively high degree of human involvement is to be expected. To perform such tasks efficiently, good visual, auditory and if possible, haptic cues are required to provide to the operator with a veridical sense of the remote environment [4] [6][7]. Therefore, the IPM technique was developed to enhance the operator's "immersiveness" and obtain the precision perception of the unstructured environment based on its specialties for robot teleoperation in unstructured environments.…”