Real-Time 3D Tele-operation of Unmanned Ground Vehicles

摘要

In this paper, we report an automated method for 3D tele-operation of unmanned ground vehicles in complicated environments using multi-channel LiDAR and a vedio camera. To enhance accurate remote control, a system for 3D tele-operation based on dynamic model is introduced. Also, for efficient telepresence, two methods of 3D scene rendering are presented based on rasterized height map and image fusion respectively. Our approach enables capabilities for tele-operation, including multiple viewpoints and different remote control modes. This system is evaluated through experiments on real world datasets of various environments.