Abstract
This paper deals with a monitoring robot system which gives a visual assistance to the operator for tele-operation task. Objective visual information from other viewpoint including the work robot and peripheral environment is important in order to reduce the burden on the operator. In tele-operation task, viewpoint to minimize the ambiguity of region of interesting (ROI) is important. The visual information from this viewpoint is effective in reducing ambiguity space, such as extravisual space and occluded space. In order to capture an effective scene that gives a proper overview for tele-operation task, we introduce method for calculating the spatial entropy and selecting viewpoint based on spatial entropy.
