感覚共有と小型人型ロボット操縦のためのコンパクトな画像安定化システム(機械力学,計測,自動制御)

概要

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Wearable computing has been actively investigated as the dimensions of a device such as a computer, a sensor, and a motor are getting smaller. In this work we focus on visual information sharing and our aim is to develop an image stabilization system for visual information sharing between humans. We use a small-sized-humanoid robot to simulate a person who captures visual information at a distant site. The developed image stabilization system can be used for an advanced wearable telepresence system. The requirements of an image stabilization system that can be applied to a wearable system are compactness, lightness in weight, and real-time process rates. We have implemented our image stabilization system to satisfy these requirements. The developed system uses a three-dimensional motion sensor for camera rotational motion detection, the optical flow for camera translational motion detection, and the image-processing method for motion compensation. The experimental results show that images from the camera mounted on the small-sized humanoid robot can be stabilized by our developed system.
2009-11-25