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Mapping System with Virtual Reality for Mobile Robot Teleoperation

机译:虚拟现实的移动机器人遥操作制图系统

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Robots using teleoperation, especially linking robots to users in real-time have been studied. For a convenient and immersive operation to a robot, it should be able to use sensors which are mounted on the robot, and effectively visualize it to increase the immersive feeling of the user. We propose a system that creates a map using a camera and a sensor installed in the robot, recognizes the surrounding environment. It visualizes PointCloud data in real time on the user's virtual reality device. To demonstrate our proposed system, we used TurtleBot and Gear VR as robot and user device, respectively. Also, a laptop connected with TurtleBot processes the PointCloud data obtained from Depth Camera to Octomap, sends it to the VR device, and the VR device visualizes received data in real time. We experimented in a real environment by creating a VR-based teleoperation system that remotely manipulates TurtleBot and visualizes the data. The transmitted PointCloud data were reflected in the VR device in real time so that the user can remotely recognize the situation of the site.
机译:已经研究了使用遥操作的机器人,特别是实时将机器人与用户链接的技术。为了对机器人进行方便的沉浸式操作,它应该能够使用安装在机器人上的传感器,并有效地对其进行可视化,以增加用户的沉浸感。我们提出了一种系统,该系统使用相机和机器人中安装的传感器创建地图,并识别周围环境。它可以在用户的​​虚拟现实设备上实时可视化PointCloud数据。为了演示我们提出的系统,我们分别使用TurtleBot和Gear VR作为机器人和用户设备。此外,与TurtleBot连接的笔记本电脑处理从深度相机获取的PointCloud数据到Octomap,将其发送到VR设备,然后VR设备实时可视化接收到的数据。我们在现实环境中进行了实验,创建了一个基于VR的远程操作系统,该系统可以远程操纵TurtleBot并可视化数据。传输的PointCloud数据实时反映在VR设备中,以便用户可以远程识别站点的状况。

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