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Information visualization based on 3D modeling for human-friendly teleoperation

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3 Author(s)
Yuichiro Toda ; Graduate School of System Design, Tokyo Metropolitan University, Japan ; Tsubasa Narita ; Naoyuki Kubota

This paper proposes a method for 3D modeling of environments used to perform teleoperation of a mobile robot. Recently, the expectation to tele-operated mobile robots has been increasing much in order to perform a monitoring in various scenes. However, there are many critical problems in tele-operated systems. Especially, we must expand visual range from a robot, the usability of human interface, and intention sharing between the robot and operator. First, we discuss information visualization for human-friendly tele-operation. Next, we propose a tele-operating system based on multi-resolution map. Finally, we propose a method of 3D modeling using Microsoft Kinect sensor, and show several experimental results of the proposed method.

Published in:

2012 IEEE Congress on Evolutionary Computation

Date of Conference:

10-15 June 2012