ロボット遠隔操作のための検出確率を用いたモーションキャプチャ信頼度評価

抄録

Tele-operated robotic systems have been applied in extreme environment. In order to operate delicate tasks, many humanoid robots have been developed. Motion capturing systems are often used so as to tele-operate those robots. However, it is difficult for individual motion capturing system to measure precise joint angles of a human arm. Therefore, we integrate two motion capturing systems. Here, it is important how two motion capturing systems are integrated. In this paper, we evaluate the reliability of each motion capturing system. The probability of detection (POD) is applied to evaluate the reliability of two systems. By using POD, it is possible to evaluate the influence caused by measurement environment and camera arrangement etc. Consequently, based on the POD evaluation, the tendency of the reliability of two motion capturing systems were confirmed.