A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities

Takashi Tsubouchi, Akichika Tanaka, Atsushi Ishioka, Masahiro Tomono, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

It is important and necessary to develop a tele-operated mobile robot to have reconnaissance operation inside of the extreme earthquake stricken building or underground town. The present authors aim at developing such a tele-operated mobile robot. In this paper, a prototype of the tele-operation and man-robot interface system is proposed. The tele-operated robot and the remote operation station is linked with wireless network and the operator can command the robot One feature point of this system is to provide an live omni-directional panoramic view image and live map to the operator on the display of the remote operation station. The live map represents the floor plan of the moving environment and it is provided by SLAM technology with LRF scan data. It proves very effective to have combined use of the panoramic image and the live map. Experimental set up and integrated experiments are also reported in this paper.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages1096-1102
Number of pages7
Volume2
Publication statusPublished - 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai
Duration: 2004 Sep 282004 Oct 2

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CitySendai
Period04/9/2804/10/2

Fingerprint

Remote control
Robots
Mobile robots
Wireless networks
Earthquakes
Display devices
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Tsubouchi, T., Tanaka, A., Ishioka, A., Tomono, M., & Yuta, S. (2004). A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (Vol. 2, pp. 1096-1102)

A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities. / Tsubouchi, Takashi; Tanaka, Akichika; Ishioka, Atsushi; Tomono, Masahiro; Yuta, Shinichi.

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2 2004. p. 1096-1102.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tsubouchi, T, Tanaka, A, Ishioka, A, Tomono, M & Yuta, S 2004, A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities. in 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). vol. 2, pp. 1096-1102, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, 04/9/28.
Tsubouchi T, Tanaka A, Ishioka A, Tomono M, Yuta S. A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2. 2004. p. 1096-1102
Tsubouchi, Takashi ; Tanaka, Akichika ; Ishioka, Atsushi ; Tomono, Masahiro ; Yuta, Shinichi. / A SLAM based teleoperation and interface system for indoor environment reconnaissance in rescue activities. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Vol. 2 2004. pp. 1096-1102
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