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 (31.08.2021-03.09.2021)
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: | 31.08.2021-03.09.2021 |
| 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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