小型ロボットの遠隔操作における全天球映像の提示

抄録

This paper describes generating panoramic images with spherical projection using images acquired from cameras on a small mobile robot. We develop a small mobile robot on teleoperation for social infrastructure inspection. Multiple small cameras are equipped on this robot. Panoramic images around the robot which is generated using a multiple images acquired from the cameras are provided to an operator with a head-mounted display. First, we explain how to project images acquired from the cameras to spherical surfaces. Then, making an experiment which generating the panoramic images. Providing the panoramic images to the operator and revealing problems of generating the images.