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

Takashi Tsubouchi, Akichika Tanaka, Atsushi Ishioka, Masahiro Tomono, Shin'ichi Yuta

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

11 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
Publication statusPublished - 2004 Dec 1
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: 2004 Sep 282004 Oct 2

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume2

Other

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

ASJC Scopus subject areas

  • Engineering(all)

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