무인 지상 로봇의 실시간 원격 제어를 위한3차원 시각화 시스템
3D Information based Visualization System for Real-Time Teleoperation of Unmanned Ground Vehicles
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.
Abstract
In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.
참고문헌 (27)
- R. R. Murphy, "Disaster robotics", pp.42~60 (2014), MIT press
- S. K. Cho, "Teleoperation of a mobile robot using a force-reflection joystick with sensing mechanism of rotating magnetic field", IEEE, 2010, pp.15(1), 17~26
- Y. -D. Shin, "Interactive remote robot operation framework for rescue robot", 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp.1~5 (2013)
- J. V. Draper, "Workload, flow, and telepresence during teleoperation", IEEE International Conference on Robotics and Automation (1996)
- D. Huber, "Real-time photo-realistic visualization of 3D environments for enhanced tele-operation of vehicles", 2009 IEEE 12th International Conference on Computer Vision Workshops (2009)
- F. Ferland, "Egocentric and exocentric teleoperation interface using real-time, 3D video projection", 4th ACM, 2009, 37~44
- R. B. Rusu, "Semantic 3D object maps for everyday manipulation in human living environments", KI-Künstliche Intelligenz, 24(4), pp.345~348 (2010)
- D. Chetverikov, "The trimmed iterative closest point algorithm", Object recognition supported by user interaction for service robots (2002)
- "Velodyne, VLP-16"[URL]
- "HOKUYO, UTM-30LX"[URL]
- "Microsoft, HLSL"[URL]
- M. Ferre, "3D-image visualization and its performance in teleoperation", ICVR 2007:Virtual Reality, 4563, pp.22~31 (2007)
- B. Armstrong, "RGR-3D: simple, cheap detection of 6-DOF pose for teleoperation, and robot programming and calibration", 2002IEEE International Conference on Robotics and Automation (2002)
- A. Reveleau, "Visual representation of interaction force and sound source in a teleoperation user interface for a mobile robot", Journal of Human-Robot Interaction, 4(2), pp.1~23 (2015)
- 장가람, "원격 작업을 위한 3차원 점군 데이터기반의 실시간 폴리곤 생성 및 텍스처 맵핑 기법", 제어.로봇.시스템학회 논문지, 19(10), pp.928~935 (2013), 제어·로봇·시스템학회[DOI]
- M. Bosse, "Continuous 3D scan-matching with a spinning 2D laser", 2009 IEEE International Conference on Robotics and Automation (2009)
- J. Zhang, "LOAM: Lidar Odometry and Mapping in Real-time", Robotics: Science and Systems 2014, 2, pp.1~9 (2014)
- K. Lee, "Accurate continuous sweeping framework in indoor spaces with backpack sensor system for applications to 3-D mapping", IEEE Robotics and Automation Letters, 1(1), pp.316~323 (2016)
- P. Henry, "RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments", Springer Tracts in Advanced Robotics, 79, pp.477~491 (2010)
- M. Kazhdan, "Screened poisson surface reconstruction", ACM Transactions on Graphics (TOG), 32(3) (2013)[DOI]
- F. Bernardini, "The ball-pivoting algorithm for surface reconstruction", IEEE transactions on visualization and computer graphics, 5(4), pp.349~359 (1999)
- R. A. Newcombe, "KinectFusion: Real-time dense surface mapping and tracking", 2011 10th IEEE International Symposium on Mixed and Augmented Reality (2011)
- M. Bolitho, "Parallel poisson surface reconstruction", ISVC 2009: Advances in Visual Computing, pp.678~689 (2009)
- "Geometry Shader Stage"[URL]
- E. Einhorn, "Generic NDT mapping in dynamic environments and its application for lifelong SLAM", Robotics and Autonomous Systems, 69, pp.28~39 (2015)
- "Pixel Shader Stage"[URL]
- M. Zhihong, "A modified Laplacian smoothing approach with mesh saliency", SG 2006: Smart Graphics, pp.105~113 (2006)