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4 Previous work on 3MORDUC teleoperation The 3MORDUC (3rd version of the MObile Robot DIEES University of Catania) is a wheeled mobile robot located at DIEES (Dipartimento di Ingegneria Elettrica, Elettronica e dei Sistemi), in University of Catania [58]. It has been used over several years in order to perform research work within the field of telerobotics and teleguide visual interfaces. This sections gives a brief description of the robotic platform, and exposes past work where it has been involved. Then, past work is discussed and main issues are outlined. 33
4.1 The 3MORDUC platform The 3MORDUC uses two Maxon F2260 motors (40W DC) for move- ment. The motors are connected to two rubber wheels through a shaft. A castor wheel is employed to facilitate curve execution. Two lead batteries (12V/18Ah) provide an autonomy of about 30-40 minutes. Figure 16: The 3MORDUC platform Several sensors on board monitor the workspace and the robot state. Here we give a brief description of these sensors. Laser scanner A Sick LMS200 laser measurement sensor system (figure 17) is set on the front part of the 3MORDUC. The LMS operates by emitting a pulsed laser beam towards a definite direction. The reflected pulse is received and registered, and the distance between the robot and the obstacle which reflected the pulse is estimated by mea- suring the time of flight of laser light. The procedure is repeated for several different directions on a plane, to generate a scan of the sur- roundings of the sensor. It is possible to configure angular resolution 34
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Page 3 and 4: 4.5 Summary and analysis . . . . .
Page 5 and 6: ing telerobotic systems continues t
Page 7 and 8: tion. Section 3 describes the state
Page 9 and 10: • to be registered in 3D (that is
Page 11 and 12: lay in advance. In video-based AR s
Page 13 and 14: The point R at the intersection of
Page 15 and 16: 2.3 Stereoscopic visualization A st
Page 17 and 18: disparity and will be seen as if th
Page 19 and 20: Figure 10: (a) CristalEyes shutter
Page 21 and 22: 3.1 A sensor fusion based user inte
Page 23 and 24: 3.2 Fusion of laser and visual data
Page 25 and 26: the edges of the graph. Once the ro
Page 27 and 28: Figure 13: Modified INEEL interface
Page 29 and 30: enefit from having both video and m
Page 31 and 32: mesh of the environment onto the le
Page 33: of monocular depth cues. Besides, w
Page 37 and 38: Figure 18: The STH-MDCS2-VAR-C ster
Page 39 and 40: higher mean speeds. Main points:
Page 41 and 42: tion permits a significant decrease
Page 43 and 44: Figure 20: (a) Proximity planes ove
Page 45 and 46: 5 Proposed method: AR stereoscopic
Page 47 and 48: 5.2 Research development strategy T
Page 49 and 50: Several approaches that permit an a
Page 51 and 52: the left and the right image. Real
Page 53 and 54: 6 Effective multi-sensor visual rep
Page 55 and 56: s, and elevated from the ground lev
Page 57 and 58: of [25] is sensitive to calibration
Page 59 and 60: Figure 25: (a) Visual artifacts cre
Page 61 and 62: 7 Laser-camera alignment and calibr
Page 63 and 64: Figure 26: Graphical representation
Page 65 and 66: Figure 27: (a) Overlay at the begin
Page 67 and 68: parameters found the calibration pr
Page 69 and 70: to the maximum value (white). Inten
Page 71 and 72: variate the single parameters while
Page 73 and 74: Figure 31: Unprojection of the edge
Page 75 and 76: Figure 32: (a) Alignment using feed
Page 77 and 78: Since the last case is rather unlik
Page 79 and 80: (see the box on the left of figure
Page 81 and 82: elonging to the same model may have
Page 83 and 84: could contain artifacts which the o
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cially useful to eliminate vertical
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10 Conclusions This work has presen
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References [1] B. Davies. A review
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B. MacIntyre. Recent advances in au
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[29] M. Ferre, R. Aracil, and MA Sa
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[46] L. Lipton. Stereographics, Dev
Page 97:
[64] OpenGL website. http://www.ope
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