3D visual presentation system for tele-robotics using wide angle fovea lens

使用广角中央凹镜头的远程机器人 3D 视觉呈现系统

• 批准号: 14550232
• 负责人: YAMADA Hironao
• 金额: $ 1.79万
• 依托单位: Gifu University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14550232/
• 关键词: Wide Angle lens; Tele-robotics; Visual presenteation; Movement of the fixation point; Image processing; Fovea; CCD camera; 立体映像

In this research we developed a 3D visual presentation system for tele-robotics using wide angle fovea lens. And the possibility of the application for tele-opereation is demonstrated. The proposed vision presentation system is designed approximate to the visual mechanism of the human eye, which has a fovea (high resolution attention zone) in its field of view and executes the necessary movements of viewpoint. A distortion lens plays an important role in the system, which enlarges the image in the attention zone and compresses the one in the peripheral zone. The lens has been designed in order to realize the system. We investigated a tele -robotics system for a construction machine using proposed visual presentation system. The system consists of a servo-controlled construction robot, two joysticks for controlling the robot from a remote place, and a 3-degrees-of-freedom motion base. The operator of the robot sits on the motion base and controls the robot bilaterally from a remote place. As a tool for assisting the operator, a stereo video image of the operation field is used. The results of the experiment clarified that tasking efficiency was improved effectively. Thus, the usefulness of the developed system was confirmed.

在这项研究中，我们开发了一种使用广角中央凹镜头的远程机器人 3D 视觉演示系统。并论证了远程操作应用的可能性。所提出的视觉呈现系统的设计类似于人眼的视觉机制，其视野中有一个中央凹（高分辨率注意区）并执行必要的视点移动。畸变镜头在系统中起着重要作用，它放大关注区域的图像并压缩周边区域的图像。镜头的设计是为了实现该系统。我们使用所提出的视觉呈现系统研究了用于建筑机械的远程机器人系统。该系统由伺服控制的建筑机器人、两个用于远程控制机器人的操纵杆和一个三自由度运动底座组成。机器人的操作员坐在运动底座上，从远程位置对机器人进行双边控制。作为辅助操作者的工具，使用操作区域的立体视频图像。实验结果表明，任务分配效率得到有效提高。因此，所开发系统的实用性得到了证实。