Oehler, Martin ; Stryk, Oskar von (2021)
A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness.
5th European Conference on Mobile Robots. virtual Conference (31.08.-03.09.2021)
doi: 10.1109/ECMR50962.2021.9568840
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In this paper, we present a flexible framework for virtual projections to increase situation awareness based on a novel method to fuse multiple cameras mounted anywhere on the robot. Moreover, we propose a complementary approach to improve scene understanding by fusing camera images and geometric 3D Lidar data to obtain a colorized point cloud. The implementation on a compact omnidirectional camera reduces system complexity considerably and solves multiple use-cases on a much smaller footprint compared to traditional approaches such as actuated pan-tilt units. Finally, we demonstrate the generality of the approach by application to the multi-camera system of the Boston Dynamics Spot. The software implementation is available as open-source ROS packages on the project page https://tu-darmstadt-ros-pkg.github.io/omnidirectionalvision.
Typ des Eintrags: | Konferenzveröffentlichung |
---|---|
Erschienen: | 2021 |
Autor(en): | Oehler, Martin ; Stryk, Oskar von |
Art des Eintrags: | Bibliographie |
Titel: | A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness |
Sprache: | Englisch |
Publikationsjahr: | 22 Oktober 2021 |
Verlag: | IEEE |
Buchtitel: | 2021 European Conference on Mobile Robots (ECMR): Proceedings |
Veranstaltungstitel: | 5th European Conference on Mobile Robots |
Veranstaltungsort: | virtual Conference |
Veranstaltungsdatum: | 31.08.-03.09.2021 |
DOI: | 10.1109/ECMR50962.2021.9568840 |
Zugehörige Links: | |
Kurzbeschreibung (Abstract): | During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In this paper, we present a flexible framework for virtual projections to increase situation awareness based on a novel method to fuse multiple cameras mounted anywhere on the robot. Moreover, we propose a complementary approach to improve scene understanding by fusing camera images and geometric 3D Lidar data to obtain a colorized point cloud. The implementation on a compact omnidirectional camera reduces system complexity considerably and solves multiple use-cases on a much smaller footprint compared to traditional approaches such as actuated pan-tilt units. Finally, we demonstrate the generality of the approach by application to the multi-camera system of the Boston Dynamics Spot. The software implementation is available as open-source ROS packages on the project page https://tu-darmstadt-ros-pkg.github.io/omnidirectionalvision. |
Freie Schlagworte: | emergenCITY_CPS |
Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik LOEWE LOEWE > LOEWE-Zentren LOEWE > LOEWE-Zentren > emergenCITY |
Hinterlegungsdatum: | 30 Nov 2021 14:03 |
Letzte Änderung: | 17 Jun 2024 10:27 |
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Suche nach Titel in: | TUfind oder in Google |
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