An autonomous multi-camera control system using situation-based role assignment for Tele-operated work machines

Mitsuhiro Kamezaki*, Junjie Yang, Hiroyasu Iwata, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

A method To autonomously control multiple environmental cameras, which are currently fixed, for providing more adaptive visual information suited To The work situation for advanced unmanned construction is proposed. Situations in which The yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects including The machine, manipulator, and end-point and imaging modes including Tracking, zoom, posture, and Trajectory modes were defined. To control each camera simply and effectively, four practical camera roles combined with The imaging objects and modes were defined as The overview-machine, enlarge-end-point, posture-manipulator, and Trajectory-manipulator. A role assignment system was Then developed To assign The four camera roles To four out of six cameras suitable for The work situation, e.g., reaching, grasping, Transport, and releasing, on The basis of The assignment priority rules, in The real Time. Debris removal Tasks were performed by using a VR simulator To compare fixed camera, manual control, and autonomous systems. Results showed That The autonomous system was The best of The Three at decreasing The number of grasping misses and error contacts and increasing The subjective usability while improving The Time efficiency.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
出版社Institute of Electrical and Electronics Engineers Inc.
ページ5971-5976
ページ数6
ISBN(電子版)9781479936854, 9781479936854
DOI
出版ステータスPublished - 2014 9月 22
イベント2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
継続期間: 2014 5月 312014 6月 7

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2014 IEEE International Conference on Robotics and Automation, ICRA 2014
国/地域China
CityHong Kong
Period14/5/3114/6/7

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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