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Article overview
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A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness | Martin Oehler
; Oskar von Stryk
; | Date: |
1 Feb 2023 | 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
this https URL. | Source: | arXiv, 2302.00362 | Services: | Forum | Review | PDF | Favorites |
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