A Panoramic Model for Remote Robot Environment Mapping and Predictive Display

Abstract

Robot tele-operation is significantly degraded by delays in the operator visual feedback. We present a cylindrical image-depth model that can be automatically acquired at the remote work site and then used to support both robot localization and predictive display. We present an implementation for a mobile robotics system where synthesized immediate visual feedback replaces the delayed real images. Experimentally we found that a predicted view could be rendered with an geometric viewpoint error of no more than 2.4cm/1.2 degrees in a 100m 2 work scene.

Video mosaicing for real-time field of view enhancement

“…[10]. Then, frame to frame motion tracking was achieved by utilizing optical flow technique as represented by (1) (3)…”

“…MAGE mosaicing is a technique to enlarge the field of view (FOV) for image display based on multi-picture alignment method and commonly used in the field of vision-based robot navigation systems and virtual reality [1]. Moreover, this method can be applied to microscopes or endoscopes in displaying the whole interested areas which cannot be shown within only one frame shot.…”

Predictive display for mobile manipulators in unknown environments using online vision-based monocular modeling and localization

“…Image-based rendering techniques have been applied to photorealistic predictive display, including pure image-based synthesis [11] and hybrid geometric approaches [14], [12]. To date however, these techniques require an offline reconstruction step or a lengthy online learning phase to get a sufficiently dense image-sampling.…”