精密工学会誌
Online ISSN : 1882-675X
Print ISSN : 0912-0289
画像技術の実利用特集論文
ロボット遠隔操作のためのLiDARを用いた全方位3次元測距による俯瞰映像上での障害物提示
粟島 靖之小松 廉藤井 浩光田村 雄介山下 淳淺間 一
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83 巻 (2017) 12 号 p. 1216-1223

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Bird's-eye view system is one of image presentation systems for teleoperation. Bird's-eye view image helps an operator to visually recognize surrounding environments because of its high visibility. However, when there are obstacles that are higher than the floor or the ground, there is a problem that their positional appearance is incorrectly shown on bird's-eye view image because of the image distortion. This paper presents a new method to visualize correctly obstacles' positional appearance on the bird's-eye view image by omnidirectional 3D ranging. Specifically, the information of the distance to obstacles measured by LiDAR is superimposed onto the floor or the ground as points with colors obtained by fish-eye cameras. As shown in the experimental results, the image generated by this proposed method can improve the safety and visibility in teleoperation.

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© 2017 公益社団法人 精密工学会
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