Augmented Reality Based Vision System for Network Based Mobile Robot

The human machine interface is an essential part of intelligent robotic system. Through the human machine interface, human user can interact with the robot. Especially, in tele-robotic environment, the human machine interface can be developed with remarkable extended functionality. In this paper, we introduce a tele-presence vision system for monitoring of a network based mobile robot. The vision system is a vision part of human machine interface with augmented reality for the network based mobile robot. We synchronize head motion of human user and the camera motion of the mobile robot using visual information. So user of the mobile robot can monitor environment of the mobile robot as eyesight of mobile robot. Also, the system partially creates a panoramic image to solve a pose latency problem. In this paper, we evaluate and compare panoramic images from two different methods. One is pattern matching method which is simple and fast, the other is Scale Invariant Feature Transform (SIFT) which is complex and slow. Finally, proposed vision system provides high resolution and wide Field Of View (FOV) to user who is wearing a Head Mounted Display (HMD).