ロボット遠隔操作支援のためのステレオ画像処理を用いる立体映像提示システムの構築

抄録

Remote controlled robot is often used as a surrogate body of the operator. when the working environment is highly dangerous for human to work a single lens camera can be installed on the remotely controlled robot to provide images of surrounding environment to the operator. However, in the case of the single-lens camera, it is difficult to for the operator grasp the distance to the work object, which makes it difficult to work. In this research, an information presentation system using a stereo image processing has been developed for the remote operation. Captured stereoscopic image and reconstructed stereoscopic three-dimensional point cloud are displayed simultaneously on the multi display systems. By showing a stereoscopic vision of the stereo image, operators can easily recognize the sense of depth.We carried out experiments using proposed system.The result showed that the performance of three out of four subjects improved.