Tele-Existence Vision System with Image Stabilization for Rescue Robots

Koichiro Hayashi; Yasuyoshi Yokokohji; Tsuneo Yoshikawa

doi:10.20965/jrm.2005.p0181

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JRM Vol.17 No.2 pp. 181-188

doi: 10.20965/jrm.2005.p0181

(2005)

Paper:

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Tele-Existence Vision System with Image Stabilization for Rescue Robots

Koichiro Hayashi, Yasuyoshi Yokokohji, and Tsuneo Yoshikawa

Department of Mechanical Engineering, Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan

Received:

October 21, 2004

Accepted:

January 6, 2005

Published:

April 20, 2005

Keywords:

image stabilization, tele-existence, rescue robot, teleoperation

Abstract

The purpose of this research is to develop an intuitive interface to control rescue robots. We propose a new image stabilization system for operating rescue robots easily. The use of teleoperated rescue robots is promising in searching for victims in rubble. In the rescue activities with such robots, operators control the robots remotely through images captured by cameras mounted on the robots. Since the orientation of the robots change rapidly while they move in rubble, image stabilization is necessary so the operators can search for victims without suffering from fatigue or motion sickness. However, robot orientation changes so much that conventional image stabilizing methods does not work. In this paper, we propose a new image stabilization system which cancels camera motion caused by such rapid changes of robot orientation on an uneven terrain. After a preliminary experiment, a 3-DOF camera system was designed based on the newly proposed mechanism. To verify the performance of the camera system, we conducted two experiments. The results of the experiments confirmed that the proposed mechanism shows good image stabilization and good tracking of commanded head motion.

Cite this article as:

K. Hayashi, Y. Yokokohji, and T. Yoshikawa, “Tele-Existence Vision System with Image Stabilization for Rescue Robots,” J. Robot. Mechatron., Vol.17 No.2, pp. 181-188, 2005.

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References

[1] Y. Yokokohji, M. Kurisu, T. Saida, Y. Kudo, K. Hayashi, and T. Yoshikawa, “Constructing a 3-D Map of Rubble by Teleoperated Mobile Robots with a Motion Canceling Camera System,” Proc. International Conference on Intelligent Robots and Systems (IROS 2003), pp. 3118-3125, 2003.
[2] S. Tachi, H. Arai, and T. Maeda, “Tele-Existence Master-Slave System for Remote Manipulation,” IEEE International Workshop on Intelligent Robotics and Systems (IROS ’90), Vol.1, pp. 343-348, July 1990.
[3] E. R. Morton, “Airplane-Camera Suspension,” United States Patent, No.01482244, 1924.
[4] K. Kawano et al., “Development of New Camera Stabilizer ACE-3000,” Technology Report, Japan Aviation Electronics Industry, Ltd.
[5] K. Sato, S. Ishizuka, A. Nikami, and M. Sato, “Control Techniques for Optical Image Stabilizing System,” IEEE Trans. on Consumer Electronics, Vol.39, No.3, pp. 461-466, 1993.
[6] R. Kurazume, and S. Hirose, “An Experimental Study of Teleoperation System for Walking Robots Using High-Speed Image Stabilization System,” Journal of the Robotics Society of Japan, Vol.18, No.7, pp. 109-116, 2000.
[7] J. Y. Chang, W. F. Hu, M. H. Cheng, and B. S. Chang, “Digital Image Translational and Rotational Motion Stabilization Using Optical Flow Technique,” IEEE Transactions on Consumer Electronics, Vol.48, No.1, February 2002.
[8] J. C. Miller, T. J. Sharkey, G. A. Graham, and M. E. McCauley, “Autonomic Physiological Data Associated with Simulator Discomfort,” Aviation, Space and Environmental Medicine, Vol.64, No.9, pp. 813-819, September 1993.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Yokokohji, M. Kurisu, T. Saida, Y. Kudo, K. Hayashi, and T. Yoshikawa, “Constructing a 3-D Map of Rubble by Teleoperated Mobile Robots with a Motion Canceling Camera System,” Proc. International Conference on Intelligent Robots and Systems (IROS 2003), pp. 3118-3125, 2003.

[2] [2] S. Tachi, H. Arai, and T. Maeda, “Tele-Existence Master-Slave System for Remote Manipulation,” IEEE International Workshop on Intelligent Robotics and Systems (IROS ’90), Vol.1, pp. 343-348, July 1990.

[3] [3] E. R. Morton, “Airplane-Camera Suspension,” United States Patent, No.01482244, 1924.

[4] [4] K. Kawano et al., “Development of New Camera Stabilizer ACE-3000,” Technology Report, Japan Aviation Electronics Industry, Ltd.

[5] [5] K. Sato, S. Ishizuka, A. Nikami, and M. Sato, “Control Techniques for Optical Image Stabilizing System,” IEEE Trans. on Consumer Electronics, Vol.39, No.3, pp. 461-466, 1993.

[6] [6] R. Kurazume, and S. Hirose, “An Experimental Study of Teleoperation System for Walking Robots Using High-Speed Image Stabilization System,” Journal of the Robotics Society of Japan, Vol.18, No.7, pp. 109-116, 2000.

[7] [7] J. Y. Chang, W. F. Hu, M. H. Cheng, and B. S. Chang, “Digital Image Translational and Rotational Motion Stabilization Using Optical Flow Technique,” IEEE Transactions on Consumer Electronics, Vol.48, No.1, February 2002.

[8] [8] J. C. Miller, T. J. Sharkey, G. A. Graham, and M. E. McCauley, “Autonomic Physiological Data Associated with Simulator Discomfort,” Aviation, Space and Environmental Medicine, Vol.64, No.9, pp. 813-819, September 1993.