RGB-Dカメラとロボットアームに設置したステレオ魚眼カメラを用いた遠隔操作用透過映像の生成

抄録

Conventionally, a method of generating a view of the environment by integrating views from multiple fixed RGB-D cameras has been proposed, but it is difficult to place multiple fixed RGB-D cameras compactly around a humanoid robot so that the view of manipulating objects can be acquired in a highly cluttered environment where the objects are hidden by other objects. In this paper, we propose a method of generating a view of the environment including hidden objects by integrating views from a fixed RGB-D camera and a stereo fisheye camera attached on the robot arm where hidden objects can be visible from the stereo fisheye camera. A pair of stereo images of the environment are rendered and they are presented to the remote operator by the HMD capable of binocular stereoscopic vision. By rendering the objects between the manipulating objects and the RGB-D camera transparently, the remote operator can see the hidden manipulating objects during teleoperation. The proposed method has been evaluated using a real humanoid robot.