Synthesized scene recollection for robot teleoperation

Naoji Shiroma; Hirokazu Nagai; Maki Sugimoto; Masahiko Inami; Fumitoshi Matsuno

doi:10.1007/978-3-540-33453-8_34

Synthesized scene recollection for robot teleoperation

Naoji Shiroma, Hirokazu Nagai, Maki Sugimoto, Masahiko Inami, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	Robotics
Subtitle of host publication	Results of the 5th International Conference
Editors	Salah Sukkariah, Peter Corke
Publisher	Springer Verlag
Pages	403-414
Number of pages	12
ISBN (Print)	3540334521, 9783540334521, 9783540334521
DOIs	https://doi.org/10.1007/978-3-540-33453-8_34
Publication status	Published - 2006
Externally published	Yes
Event	5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia Duration: 2005 Jul 29 → 2005 Jul 31

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	25
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Other

Other	5th International Conference on Field and Service Robotics, FSR 2005
Country/Territory	Australia
City	Port Douglas
Period	05/7/29 → 05/7/31

Keywords

Image synthesis
Positioning
Scene recollection
Teleoperation

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/978-3-540-33453-8_34

Cite this

Synthesized scene recollection for robot teleoperation. / Shiroma, Naoji; Nagai, Hirokazu; Sugimoto, Maki; Inami, Masahiko; Matsuno, Fumitoshi.

Robotics: Results of the 5th International Conference. ed. / Salah Sukkariah; Peter Corke. Springer Verlag, 2006. p. 403-414 (Springer Tracts in Advanced Robotics; Vol. 25).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shiroma, N, Nagai, H, Sugimoto, M, Inami, M & Matsuno, F 2006, Synthesized scene recollection for robot teleoperation. in S Sukkariah & P Corke (eds), Robotics: Results of the 5th International Conference. Springer Tracts in Advanced Robotics, vol. 25, Springer Verlag, pp. 403-414, 5th International Conference on Field and Service Robotics, FSR 2005, Port Douglas, Australia, 05/7/29. https://doi.org/10.1007/978-3-540-33453-8_34

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keywords = "Image synthesis, Positioning, Scene recollection, Teleoperation",

author = "Naoji Shiroma and Hirokazu Nagai and Maki Sugimoto and Masahiko Inami and Fumitoshi Matsuno",

note = "Funding Information: This work was done as part of the Special Project for Earthquake Disaster Mitigation in Urban Areas, supported by the Ministry of Education, Science, Sport and Culture of Japan. Publisher Copyright: {\textcopyright} Springer-Verlag Berlin Heidelberg 2006.; 5th International Conference on Field and Service Robotics, FSR 2005 ; Conference date: 29-07-2005 Through 31-07-2005",

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doi = "10.1007/978-3-540-33453-8_34",

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AU - Matsuno, Fumitoshi

N1 - Funding Information: This work was done as part of the Special Project for Earthquake Disaster Mitigation in Urban Areas, supported by the Ministry of Education, Science, Sport and Culture of Japan. Publisher Copyright: © Springer-Verlag Berlin Heidelberg 2006.

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

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KW - Positioning

KW - Scene recollection

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Synthesized scene recollection for robot teleoperation

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Keywords

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