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

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ページ1096-1102
ページ数7
出版ステータスPublished - 2004 12 1
イベント2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
継続期間: 2004 9 282004 10 2

出版物シリーズ

名前2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2

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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