ロボット遠隔操作のための任意視点映像上での遮蔽物除去

抄録

Free viewpoint image is generated by combining images obtained by multiple fish-eye cameras and provides surrounding circumstances images with a 360° field of view for tele-operation of robot. However, applying this system to a robot with an arm causes a problem that a part of view is occluded by the arm. In this paper, we propose a method to remove the arm that appears as an obstacle on free viewpoint image and provide the background image that should be seen there. The experiment with a double-armed robot shows that the proposed method can generate free viewpoint image without occlusion.