NDLI: A 2D-3D integrated interface for mobile robot control using omnidirectional images and 3D geometric models

Content Provider	IEEE Xplore Digital Library
Author	Saitoh, K. Machida, T. Kiyokawa, K. Takemura, H.
Copyright Year	2006
Description	Author affiliation: Grad. Sch. of Inf. Sci. & Technol., Osaka Univ., Suita (Saitoh, K.)
Abstract	This paper proposes a novel visualization and interaction technique for remote surveillance using both 2D and 3D scene data acquired by a mobile robot equipped with an omnidirectional camera and an omnidirectional laser range sensor. In a normal situation, telepresence with an egocentric-view is provided using high resolution omnidirectional live video on a hemispherical screen. As depth information of the remote environment is acquired, additional 3D information can be overlaid onto the 2D video image such as passable area and roughness of the terrain in a manner of video see-through augmented reality. A few functions to interact with the 3D environment through the 2D live video are provided, such as path-drawing and path-preview. Path-drawing function allows to plan a robot's path by simply specifying 3D points on the path on screen. Path- preview function provides a realistic image sequence seen from the planned path using a texture-mapped 3D geometric model in a manner of virtualized reality. In addition, a miniaturized 3D model is overlaid on the screen providing an exocentric view, which is a common technique in virtual reality. In this way, our technique allows an operator to recognize the remote place and navigate the robot intuitively by seamlessly using a variety of mixed reality techniques on a spectrum of Milgram's real-virtual continuum.
Starting Page	173
Ending Page	176
File Size	575542
Page Count	4
File Format	PDF
ISBN	1424406501
DOI	10.1109/ISMAR.2006.297810
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-22
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot control Solid modeling Virtual reality Data visualization Surveillance Layout Robot vision systems Cameras Laser modes
Content Type	Text
Resource Type	Article

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