원격 비전시스템을 위한 HMD의 방향각 측정 알고리즘에 관한 연구

A Study on the Rotation Angle Estimation of HMD for the Tele-operated Vision System

  • 노영식 (울산대 전기전자정보시스템학과) ;
  • 윤승준 (울산대 전기전자정보시스템학과) ;
  • 강희준 (울산대 전기전자정보시스템학과) ;
  • 서영수 (울산대 전기전자정보시스템학과)
  • 발행 : 2009.03.01

초록

In this paper, we studied for the real-time azimuthal measurement of HMD (Head Mounted Display) to control the tele-operated vision system on the mobile robot. In the preexistence tele-operated vision system, a joystick was used to control the pan-tilt unit of the remote camera system. To give the sense of presence to the tele-operator, we used a HMD to display the remote scene, measured the rotation angle of the HMD on a real time basis, and transmitted the measured rotation angles to the mobile robot controller to synchronize the pan-tilt angles of remote camera with the HMD. In this paper, we suggest an algorithm for the real-time estimation of the HMD rotation angles using feature points extraction from pc-camera image. The simple experiment is conducted to demonstrate the feasibility.

키워드

참고문헌

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