Paper Info
Title
An autonomous multi-camera control system using situation-based role assignment for tele-operated work machines
Abstract
A method to autonomously control multiple environmental cameras, which are currently fixed, for providing more adaptive visual information suited to the work situation for advanced unmanned construction is proposed. Situations in which the yaw, pitch, and zoom of cameras should be controlled were analyzed and imaging objects including the machine, manipulator, and end-point and imaging modes including tracking, zoom, posture, and trajectory modes were defined. To control each camera simply and effectively, four practical camera roles combined with the imaging objects and modes were defined as the overview-machine, enlarge-end-point, posture-manipulator, and trajectory-manipulator. A role assignment system was then developed to assign the four camera roles to four out of six cameras suitable for the work situation, e.g., reaching, grasping, transport, and releasing, on the basis of the assignment priority rules, in the real time. Debris removal tasks were performed by using a VR simulator to compare fixed camera, manual control, and autonomous systems. Results showed that the autonomous system was the best of the three at decreasing the number of grasping misses and error contacts and increasing the subjective usability while improving the time efficiency.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907739
Robotics and Automation
Keywords
DocType
ISSN
construction industry,image sensors,industrial manipulators,telerobotics,VR simulator,adaptive visual information,advanced unmanned construction,autonomous multicamera control system,autonomous systems,camera pitch,camera yaw,camera zoom,debris removal tasks,end-point modes,enlarge-end-point,fixed camera,imaging modes,imaging objects,manual control,multiple environmental cameras,overview-machine,posture modes,posture-manipulator,situation-based role assignment,subjective usability,tele-operated work machines,time efficiency,tracking modes,trajectory modes,trajectory-manipulator,work situation,zoom modes
Conference
1050-4729
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Mitsuhiro Kamezaki12820.34
Junjie Yang211.83
Hiroyasu Iwata321948.86
Sumio Sugano417026.17