1A2-I06 Remote control system for rescue robot FMT : Removal algorithm of obstacles in the images(Search and Rescue Robot and mechatronics)

Abstract

This paper describes a method for removing of obstacles in the images by multiple cameras. Acquiring information of remote location is needed to operate robots in a remote location. For example, an image by camera is effective in remote control. However, there is a problem that images from camera on front of FMT are hindered by the FMT's crawler. To use them as image for control, removal of crawler in the images is necessary. The proposed method generates the images without crawler by multiple cameras and image processing. Then the method uses edge and difference between some images to detect crawler. We confirmed the availability of the proposed method by experiments.