A Novel Teleoperation Method for a Mobile Robot Using Real Image Data Records

摘要

In this paper we propose an innovative robot remote control method which provides the operator with a bird's-eye 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. We also propose the different ways of presenting the synthesized bird's-eye view images to an operator