A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness

• URL: http://arxiv.org/abs/2302.00362v1
• Date: Wed, 1 Feb 2023 10:40:05 GMT
• Title: A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness
• Authors: Martin Oehler and Oskar von Stryk
• Abstract summary: We present a flexible framework for virtual projections to increase situation awareness based on a novel method to fuse multiple cameras mounted anywhere on the robot. We propose a complementary approach to improve scene understanding by fusing camera images and geometric 3D Lidar data to obtain a colorized point cloud.
• Score: 2.817412580574242
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In this paper, we present a flexible framework for virtual projections to increase situation awareness based on a novel method to fuse multiple cameras mounted anywhere on the robot. Moreover, we propose a complementary approach to improve scene understanding by fusing camera images and geometric 3D Lidar data to obtain a colorized point cloud. The implementation on a compact omnidirectional camera reduces system complexity considerably and solves multiple use-cases on a much smaller footprint compared to traditional approaches such as actuated pan-tilt units. Finally, we demonstrate the generality of the approach by application to the multi-camera system of the Boston Dynamics Spot. The software implementation is available as open-source ROS packages on the project page https://tu-darmstadt-ros-pkg.github.io/omnidirectional_vision.

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