JRM Vol.32 No.6 pp. 1233-1243
doi: 10.20965/jrm.2020.p1233


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

May 6, 2020
October 5, 2020
December 20, 2020
arbitrary viewpoint image, visualization, fish-eye camera, hydraulic excavator, teleoperation
Arbitrary Viewpoint Visualization for Teleoperated Hydraulic Excavators

Arbitrary viewpoint image generated by the proposed system

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.

Cite this article as:
Tatsuki Nagano, Ryosuke Yajima, Shunsuke Hamasaki, Keiji Nagatani, Alessandro Moro, Hiroyuki Okamoto, Genki Yamauchi, Takeshi Hashimoto, Atsushi Yamashita, and Hajime Asama, “Arbitrary Viewpoint Visualization for Teleoperated Hydraulic Excavators,” J. Robot. Mechatron., Vol.32, No.6, pp. 1233-1243, 2020.
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