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Authors : Masanao Koeda, Seiichiro Suzuki, Yoshio Matsumoto, Tsukasa Ogasawara
Nara Institute of Science and Technology Graduate School of Information Science
CREST, JST(Japan Science and Technology) OLYMPUS Corporation Abstract
Augmented reality(AR) is a technology which makes it possible to enhance capability to human machine interaction in the real world, and it is expected to improve operationality of robots. In this paper, we introduce Robotic applications which was developed in our laboratory using AR technology. 1. Introduction In this paper, we introduce two Robotic Applications which was developed in our laboratory using AR technology. One is an immersive teleoperation system of an unmanned helicopter. In this system, an operator wears a head mounted display(HMD) and Controls the helicopter remotely watching a surrounding view of the helicopter through the display. The other is a navigation system of a wheelchair which guides a user wearing HMD. The user sits on the wheelchair and watches a displayed navigation information. In both systems, we conducted experiments and verified their feasibility. 2. Immersive Teleoperating System for Unmanned Helicopter 2.1 Introduction
For the surveillance on devastated districts, manned helicopters are mainly used. However there are many problems in cost, noise, and safety for operators. Thus it is expected to use unmanned helicopters in substitution for manned helicopter. It is known to be more difficult to operate unmanned helicopters remotely than to operate manned helicopters. One reason is that an operator cannot know the orientation of the helicopter when the operator is far apart from it, and the other is that the coordination system between the operator and the helicopter changes drastically depending on the orientation of the helicopter. For these reasons, we propose an immersive teleoperating system of unmanned helicopters. In this system, the operator controls the helicopter remotely while watching transmitted video images from the helicopter through a HMD. Using this system, we conducted an experiment and demonstrated a surveillance in an emergency drill. 2.2 Immersive Teleoperation of a Helicopter
In this system, a camera and a wireless video transmitter are mounted on a helicopter. A captured video image around the helicopter is sent to the operator during the flight. On the ground, a wireless video receiver picks up the transmitted image and it is displayed on an immersive display. The operator controls the helicopter remotely by watching the surrounding views of the helicopter through the immersive display.
The advantage of this system is that it is necessary to install only a camera and a transmitter on a helicopter. Therefore it is possible to use a compact helicopter with a small payload, which make the system light weight and cheap. Additionally, it becomes easy to control an unmanned helicopter because a coordination system between a helicopter and an operator doesn’t change even when the attitude of the helicopter changes. Furthermore, an operator can keep controlling even when a helicopter is out of the operator’s sight as long as the video image can reach the operator and the helicopter can receive the control signal. 2.3 System Overview
Figure 1 illustrates the overview of the developed immersive teleoperating system. In this system, an omnidirectional camera and a wireless video transmitter are mounted at the bottom of the helicopter. The omnidirectional image is sent by the transmitter. Using a hyperboloidal mirror, it is possible to convert an omnidirectional image to perspective images. Since panning and tilting of the camera can be simulated by generating view-dependent images from omnidirectional images, there is no need to attach mechanisms to rotate the camera on the helicopter. Page 1, 2,3,4
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