Visual support system for remote control by adaptive ROI selection of monitoring robot

ROBOMECH Journal

article

Shota Samejima¹  Khusniddin Fozilov²  Kosuke Sekiyama³ 

[1] Department of Mechanical Science and Engineering, Nagoya University;Department of Mechanical Engineering, Nagoya University;Department of Micro-Nano Systems Engineering, Nagoya University

关键词: Region of interest (ROI);    Monitoring robot;    Visual support;    Gestalt psychology;   

DOI  :  10.1186/s40648-018-0103-0

学科分类：社会科学、人文和艺术（综合）

来源: Springer

【 摘 要 】

A visual assistance system has become attractive as a technique to improve the efficiency and stability of remote control. While an operator controls a working robot, another autonomous monitoring robot evaluates a suitable viewpoint to observe the work site, and dynamically moves to the optimal viewpoint for monitoring. Choosing the observation region (ROI: region of interest) is equivalent to deciding the action of the following autonomous monitoring system. Therefore, we focus on ROI detection in our visual support system. We propose an ROI selection method to identify the most suitable observation point and interobject relations. The monitoring robot detects a gestalt of the scene in order to identify the relations between objects. Such an adaptive ROI in real time improves the efficiency of the remote control. The experimental results indicate the effectiveness of the proposed system in terms of execution time and number of errors.

【 授权许可】

CC BY