人の意思と時間を錯覚により制御する遠隔操作手法

―第三報：Neural Radiance Fieldsを用いた未知環境への適用可能性検証―

抄録

Illusory control (IC) that is teleoperation method we proposed was based on the premise that the virtual environment is prepared in advance. Therefore, the mobile robot using IC can function only in known environment. This paper presents ”Instant illusory control” that no need to prepare the virtual environment in advance. The proposed robot system can instantly create a virtual environment from real images of the robot in motion using Instant NGP as one of methods in Neural Radiance Fields. Additionally, using 360-degree images, the environment around the robot can be comprehensively virtualized without demanding on the camera poses. Furthermore, using the depth estimation result of the images in advance for the optimization of the density of neural radiance fields, the reconstruction accuracy at unknown poses is ensured as well. Using this virtual environment instantly created, teleoperation by transition between real and virtual environments is expected to function in unknown environment. The experimental result shows that the proposed system can achieve a consistent back and forth between virtual and real spaces in mobile robot teleoperation.