Complement Method for Obstructed Area on Images of Multiple Cameras Mounted Behind Crawler Shoe
Kenichi Tokuda*1, Tatsuya Hirayama*2, Tetsuya Kinugasa*3, Takafumi Haji*4, Hisanori Amano*5, and Kazunori Yasuda*1
930 Sakaedani, Wakayama 640-8510, Japan
3-77 Oimatsu-cho, Sakai-ku, Sakai city, Osaka 590-8577, Japan
*3Okayama University of Science
1-1 Ridaicho, Kita ward, Okayama city, Okayama 700-0005, Japan
*4National Institute of Technology, Matsue College
14-4 Nishiikuma-cho, Matsue city, Shimane 690-0865, Japan
*5National Research Institute of Fire and Disaster
4-35-3 Jindaiji Higasimachi, Chofu city, Tokyo 182-8508, Japan
Camera system of FMT (RT-04)
The covered area detection method, using the brightness change in an image and parallax correction, does not depend on a common field of vision. Camera images become important information when a rescue robot is operated by remote control, but mounting cameras is difficult on a rescue robot crawler that must get into cracks in rubble. We propose attaching cameras behind the crawler shoe. The biggest problem then, however, is that the shoe obstructs large parts of the camera image. To avoid this, we developed real-time image processing that complements the obstructed area through the use of two cameras. We then performed evaluation experiments to confirm the effectiveness of the proposed technique.
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