Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Methodological Comparison of Visualization for Tele-operated Robot Visual Guidance

원격 로봇 비주얼 가이던스를 위한 가상벽 가시화 방법론 비교

  • Kim, Dong Yeop (Intelligent Robotics Research Center, Korea Electronics Technology Institute) ;
  • Shin, Dong-In (Intelligent Robotics Research Center, Korea Electronics Technology Institute) ;
  • Hwang, Jung-Hoon (Intelligent Robotics Research Center, Korea Electronics Technology Institute) ;
  • Kim, Young-Ouk (Intelligent Robotics Research Center, Korea Electronics Technology Institute)
  • 김동엽 (전자부품연구원 지능로보틱스연구센터) ;
  • 신동인 (전자부품연구원 지능로보틱스연구센터) ;
  • 황정훈 (전자부품연구원 지능로보틱스연구센터) ;
  • 김영욱 (전자부품연구원 지능로보틱스연구센터)
  • Received : 2016.08.10
  • Accepted : 2016.10.17
  • Published : 2016.11.01
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Abstract

Disaster robots have accepted tele-operation in order to share the intelligence of human operators and robot systems. Virtual wall is one of the tele-operation technology to support recognition of human operator. If the virtual wall can block the robot from dangers, the operator will feel comfortable and can concentrate on fundamental missions. In this paper, we proposes and compares three methods for virtual wall visualization in tele-operation using 3D reconstruction. First is a virtual wall visualized only with edges. A wall filled with transparent color is the second method. Finally, third method is a texture-mapped virtual wall. In the experiments, we discuss their merits and demerits in view of robot tele-operation.

Keywords

References

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