Arbitrary Viewpoint Visualization for Teleoperated Hydraulic Excavators
Tatsuki Nagano*, Ryosuke Yajima*, Shunsuke Hamasaki*, Keiji Nagatani*, Alessandro Moro*, Hiroyuki Okamoto**, Genki Yamauchi***, Takeshi Hashimoto***, Atsushi Yamashita*, and Hajime Asama*
*The University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
3-5-11 Shibasaki-cho, Tachikawa-shi, Tokyo 190-0023, Japan
***Public Works Research Institute
1-6 Minamihara, Tsukuba-shi, Ibaraki 300-2621, Japan
In this paper, we propose a visualization system for the teleoperation of excavation works using a hydraulic excavator. An arbitrary viewpoint visualization system is a visualization system that enables teleoperators to observe the environment around a machine by combining multiple camera images. However, when applied to machines with arms (such as hydraulic excavators), a part of the field of view is shielded by the image of the excavator’s arm; hence, an occlusion occurs behind the arm. Furthermore, it is difficult for teleoperators to understand the three-dimensional (3D) condition of the excavating point because the current system approximates the surrounding environment with a predetermined shape. To solve these problems, we propose two methods: (1) a method to reduce the occluded region and expand the field of view, and (2) a method to measure and integrate the 3D information of the excavating point to the image. In addition, we conduct experiments using a real hydraulic excavator, and we demonstrate that an image with sufficient accuracy can be presented in real-time.
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