Spatio-temporal bird's-eye view images using multiple fish-eye cameras

摘要

In camera images for urban search and rescue (USAR) robots teleoperation, it is important to reduce blind spots and get surroundings as much as possible because of safety requirements. We propose a method to create synthesized bird's-eye view images from multiple fish-eye cameras as spatiotemporal data which can reduce blind spots. In practical use, it is very important to get images robustly even when some troubles such as camera broken and network disturbances occur. This method develops showing bird's-eye view images robustly even if some of images are not acquired by compensating past stored spatio-temporal data to these images. Effectiveness of the proposed method is verified through experiments.