| Título: | Mobile robot teleoperation using enhanced video |
| Autores: | Lonji, Kadima. |
| Fecha: | 1996 |
| Publicador: | McGill University - MCGILL |
| Fuente: |
 |
| Tipo: | Electronic Thesis or Dissertation |
| Tema: |
Engineering, Electronics and Electrical. Computer Science. |
| Descripción: |
In the context of teleoperated mobile robotics, the use of video data is one of the most desirable sensing modalities for vehicle guidance. Unfortunately, maintaining reliable noise-free video transmission, especially in cost sensitive teleoperation applications is a frequent problem. We developed a mobile robot system for teleoperation using a robot mounted camera as a primary sensor. This system functions in a partially-known environment for which a 3D geometric map is available. In this thesis we describe aspects of the system related to enhanced reality, that is the augmentation of the returned video data with information extracted from the world knowledge base. If during robot navigation our sensor data (returned video) experiences transmission delays or becomes too noisy or obstructed, we superimposed artificially generated graphics (using the model representation) onto a regular video picture. Once a clear transmission was recaptured or the obscuring obstacle shifted from its old position, video data covering that area of the image was redisplayed for consequent navigation. This task of fusing these two representations together simultaneously, in an efficient and realistic fashion during robot teleoperation, was the goal of our research. |
| Idioma: | en |
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