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Published in:
2006 | OriginalPaper | Chapter
Synthesized Scene Recollection for Robot Teleoperation
Authors : Naoji Shiroma, Hirokazu Nagai, Maki Sugimoto, Masahiko Inami, Fumitoshi Matsuno
Published in: Field and Service Robotics
Publisher: Springer Berlin Heidelberg
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In this paper we propose an innovative robot remote control method, a synthesized scene recollection method, which provides the operator with a bird’seye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the operator to easily recognize the situation of the robot even in unknown surroundings and enables the remote operation ability of a robot to be improved. This method is mainly based on two technologies, robot positioning and image synthesis. In this paper we use scan matching of laser rangefinder’s scan data for robot positioning and realized self-contained implementation of the proposed method in 2D horizontal plane.