遠隔操作ロボットのための複数RGB-Dセンサを用いた半隠消映像のオンライン生成

抄録

This paper presents a methodology to compose half-diminished reality images for operating remote control robots. At sites for disaster response, robots are desired to achieve various tasks. However, operators have problems concerned with camera images shown to them for controlling robots. For example, operators have to understand the environment by comparing many display images from multiple cameras, because the robot arm itself occludes target work objects in main camera image. Half-Diminished Reality technique is used for seeing through foreground objects and viewing occluded backgrounds. We have applied the technique to remote operating. In this paper, a fast algorithm to estimate the background image is proposed. Furthermore, an online half-diminished viewing system for remote control is constructed. In the experiment, we confirmed the validity of proposed method with three RGB-D sensors and a robot arm : The proposed method could display online half-diminished reality images to the operator to see through the target work objects occluded by the robot arm.