水中ロボットアーム遠隔操作システムの開発 - 第1報：画像処理による視認性向上

概要

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Now remotely operated underwater vehicle (ROV) becomes main tool to explore or to make work in the sea and high performance is expected as a usual matter. The authors have been studying how to improve the performance of robot arm on the ROV and proposed here a new technology to show the image of the objects more clearly with diminishing interference of robot arm as a 1st result. This technology uses computer graphics and builds 3D vision through the image of robot arm with it. That is as follows; when we get the interfering image of object and robot arm, we replace the image of robot with the graphic model and fill the interfered parts of object with the data without interference. This method proved usefulness with experiments and it is on the improvement for actual use now.
公益社団法人日本マリンエンジニアリング学会の論文