Complement Method for Obstructed Area on Images of Multiple Cameras Mounted Behind Crawler Shoe

Kenichi Tokuda; Tatsuya Hirayama; Tetsuya Kinugasa; Takafumi Haji; Hisanori Amano; Kazunori Yasuda

doi:10.20965/jrm.2015.p0146

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JRM Vol.27 No.2 pp. 146-155

doi: 10.20965/jrm.2015.p0146

(2015)

Paper:

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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

^*1Wakayama University
930 Sakaedani, Wakayama 640-8510, Japan

^*2Shimano Inc.
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

Received:

September 10, 2014

Accepted:

December 23, 2014

Published:

April 20, 2015

Keywords:

rescue robot, remote control, image processing, removal of obstructed area, vision for crawler robot

Abstract

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.

Cite this article as:

K. Tokuda, T. Hirayama, T. Kinugasa, T. Haji, H. Amano, and K. Yasuda, “Complement Method for Obstructed Area on Images of Multiple Cameras Mounted Behind Crawler Shoe,” J. Robot. Mechatron., Vol.27 No.2, pp. 146-155, 2015.

Data files:

References

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[2] T. Kinugasa, Y. Otani, T. Haji, K. Yoshida, K. Osuka, and H. Amano, “A Proposal of Flexible Mono-tread Mobile Track,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1642-1647, 2008.
[3] T. Haji, T. Kinugasa, S. Araki, D. Hanada, K. Yoshida, H. Amano, R. Hayashi, K. Tokuda, and M. Iribe, “New Body Design for Flexible Mono-Tread Track: Layered Structure and Passive Retro-Flexion,” J. of Robotics and Mechatronics, Vol.26, No.4, pp. 460-468, 2014.
[4] M. Arai, Y. Tanaka, S. Hirose, H. Kuwahara, and S. Tsukui, “Development of Souryu-IV and Souryu-V: Serially connected crawler vehicles for in-rubble searching operations,” J. of Field Robotics, Vol.25, No.1-2, pp. 31-65, 2008.
[5] A. Yamashita, T. Harada, T. Kaneko, and K. T. Miura, “Virtual Wiper – Removal of Adherent Noises from Images of Dynamic Scenes by Using a Pan-Tilt Camera –,” Advanced Robotics, Vol.19, No.3, pp. 295-310, 2005.
[6] A. Yamashita, Y. Tanaka, and T. Kaneko, “Removal of Adherent Waterdrops from Images Acquired with Stereo Camera,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 400-405, 2005.
[7] A. Yamashita, I. Fukuchi, and T. Kaneko, “Noises Removal from Image Sequences Acquired with Moving Camera by Estimating Camera Motion from Spatio-Temporal Information,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3794-3801, 2009.
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] J. Ma, Y. Zhang, Y. Nam, A. Cichocki, and F. Matsuno, “EOG/ERP Hybrid Human-Machine Interface for Robot Control,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 859-864, 2013.

[2] [2] T. Kinugasa, Y. Otani, T. Haji, K. Yoshida, K. Osuka, and H. Amano, “A Proposal of Flexible Mono-tread Mobile Track,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1642-1647, 2008.

[3] [3] T. Haji, T. Kinugasa, S. Araki, D. Hanada, K. Yoshida, H. Amano, R. Hayashi, K. Tokuda, and M. Iribe, “New Body Design for Flexible Mono-Tread Track: Layered Structure and Passive Retro-Flexion,” J. of Robotics and Mechatronics, Vol.26, No.4, pp. 460-468, 2014.

[4] [4] M. Arai, Y. Tanaka, S. Hirose, H. Kuwahara, and S. Tsukui, “Development of Souryu-IV and Souryu-V: Serially connected crawler vehicles for in-rubble searching operations,” J. of Field Robotics, Vol.25, No.1-2, pp. 31-65, 2008.

[5] [5] A. Yamashita, T. Harada, T. Kaneko, and K. T. Miura, “Virtual Wiper – Removal of Adherent Noises from Images of Dynamic Scenes by Using a Pan-Tilt Camera –,” Advanced Robotics, Vol.19, No.3, pp. 295-310, 2005.

[6] [6] A. Yamashita, Y. Tanaka, and T. Kaneko, “Removal of Adherent Waterdrops from Images Acquired with Stereo Camera,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 400-405, 2005.

[7] [7] A. Yamashita, I. Fukuchi, and T. Kaneko, “Noises Removal from Image Sequences Acquired with Moving Camera by Estimating Camera Motion from Spatio-Temporal Information,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3794-3801, 2009.

[8] [8] S. You, R. T. Tan, R. Kawakami, and K. Ikeuchi, “Adherent raindrop detection and removal in video,” Proc. of IEEE Computer Society Conf. on Computer Vision and Pattern Recognition, 2013.

[9] [9] T. Modegi, T. Inazawa, T. Chiba, and C. Kobayashi, “Small object recognition techniques based on structured template matching for high-resolution satellite images,” Proc. of SICE Annual Conf. 2008, pp. 2168-2173, 2008.

[10] [10] C. D. Kuglin and D. C. Hines, “The Phase Correlation Image Alignment Method,” Proc. of Int. Conf. on Cybernetics and Society, pp. 163-165, 1975.

[11] [11] K. Kobayashi, H. Najima, T. Aoki, M. Kawamata, and T. Higuchi, “Principles of Phase Only Correlatio and Its Applications,” Technical Report of The Institute of Image Information and Television Engineers, Vol.20, No.41, pp. 1-6, 1996 (in Japanese).

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

Kenichi Tokuda^1, Tatsuya Hirayama^2, Tetsuya Kinugasa^3, Takafumi Haji^4, Hisanori Amano^5, and Kazunori Yasuda^1