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 https://tu-darmstadt-ros-pkg.github.io/omnidirectional_vision.
@article{arxiv.2302.00362,
title = {A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness},
author = {Martin Oehler and Oskar von Stryk},
journal= {arXiv preprint arXiv:2302.00362},
year = {2023}
}
Comments
Accepted to European Conference on Mobile Robots (ECMR) 2021. Video link: https://youtu.be/7pocpdsMxOM Project page: https://tu-darmstadt-ros-pkg.github.io/omnidirectional_vision