Synthesized Scene Recollection for Vehicle Teleoperation

Shiroma, Naoji; Nagai, Hirokazu; Kagotani, Georges; Sugimoto, Maki; İnami, Masahiko; Matsuno, Fumitoshi

doi:10.9746/sicetr1965.41.1036

Cited by 10 publications

(2 citation statements)

References 6 publications

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“…The operator must also check multiple images simultaneously. To cope with these problems, a method for using a back view image synthesized from past images is proposed [8]. This method combines the camera images captured in past times and the CG model of the robot, where the current robot posture is synthesized onto the past image.…”

Section: Related Workmentioning

confidence: 99%

View Point Decision Algorithm for an Autonomous Robot to Provide Support Images in the Operability of a Teleoperated Robot

Maeyama

Okuno

Watanabe

2016

SICE Journal of Control, Measurement, and System Integration

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It is conceivable to use a teleoperated robot as a method for exploring a disaster environment quickly while avoiding secondary disaster. According to conventional researches, the image captured behind from the teleoperated robot is useful as information provided to an operator for operating a teleoperated robot. In this research, a teleoperated method to provide the image from behind is proposed by using an autonomous robot. This method allows one image to include both the teleoperated robot itself and the environment around the teleoperated robot. Here, it is important to develop an algorithm that can navigate the autonomous robot to the position where the camera image can be obtained so that the operability is enhanced for the teleoperated robot at the front. This paper describes a method for determining the movement position for the autonomous robot in consideration of each robot's position and obstacles around the robot. A method for changing three modes (Follow/Back/Wait) is also described according to the situation. Finally, the movement position of the autonomous robot and the captured images actually provided by each robot are shown through the experimental results using real mobile robots to verify the usefulness of the proposed method.

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Section: Related Workmentioning

confidence: 99%

View Point Decision Algorithm for an Autonomous Robot to Provide Support Images in the Operability of a Teleoperated Robot

Maeyama

Okuno

Watanabe

2016

SICE Journal of Control, Measurement, and System Integration

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“…. (Shiroma et al, 2004(Shiroma et al, , , 2005) (Zhang et al, 2014) (Augmented Reality:AR) (Mixed Reality:MR) . AR CG (Carmigniani and Furht, 2001) MR AR HMD…”

mentioning

confidence: 99%

Driving assistance system for welfare vehicle with virtual platoon control using mixed reality

Matsunaga

Kimura

Okajima

2019

Transactions of the JSME (In Japanese)

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Recently, welfare vehicles are widely used among the elderly and the aged. However, it is not easy for inexperienced beginners or the aged to control the welfare vehicle in narrow places such as corridors. In this paper, a driving assistance system using Mixed Reality (MR) which has collision avoidance function is proposed using a virtual platoon control scheme. Using the system, it is supposed that the cognitive and driving ability is enhanced from the simulated objective view point. The driver rides on the vehicle and controls using the virtual preceding vehicle on a Head Mounted Display (HMD). The virtual vehicle projected on a HMD is steered from a simulating objective viewpoint, and the welfare vehicle is controlled so as to follow the virtual vehicle using the precise platoon control algorithm. In order to avoid the collision to obstacles by the beginners, the obstacle avoidance function on the assistance system is designed using MR technology. To detect obstacles or the wall, the proposed assistance system uses 3D mapping function of a HMD. As a result, it is confirmed that collision can be avoided safely by driving experiments in the narrow corridor.

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