The Visualization of Threats Using the Augmented Reality and a Remotely Controlled Robot

The Visualization of Threats Using the Augmented Reality and a Remotely Controlled Robot

Stať ve sborníku v databázi WoS či Scopus

This paper introduces multi-robotic system ATEROS which can be applied in the area of the chemical, biological, radiological and nuclear (CBRN) protection. Potential dangers are identified by robots working in the autonomous mode. One particular problem is addressed -- how to present those dangers to a human operator of a robot working in the telepresence mode. The technique of the augmented reality is used as a solution. It is assumed that the autonomous robot provides georeferenced information about the danger. The remotely controlled robot Orpheus-X4 is equipped with a precise GNSS receiver working in Real Time Kinematic (RTK) mode which provides accurate self-localization and with a camera. Knowing both the position and the orientation of the camera as well as its parameters, it is possible to calculate position of the danger within a picture provided by the camera. The augmented reality was successfully implemented to the Orpheus-X4 for a zero tilt. It was applied in a scenario of the gamma radiation sources localization but can be expanded to other cases even outside the CBRN domain.

This paper introduces multi-robotic system ATEROS which can be applied in the area of the chemical, biological, radiological and nuclear (CBRN) protection. Potential dangers are identified by robots working in the autonomous mode. One particular problem is addressed -- how to present those dangers to a human operator of a robot working in the telepresence mode. The technique of the augmented reality is used as a solution. It is assumed that the autonomous robot provides georeferenced information about the danger. The remotely controlled robot Orpheus-X4 is equipped with a precise GNSS receiver working in Real Time Kinematic (RTK) mode which provides accurate self-localization and with a camera. Knowing both the position and the orientation of the camera as well as its parameters, it is possible to calculate position of the danger within a picture provided by the camera. The augmented reality was successfully implemented to the Orpheus-X4 for a zero tilt. It was applied in a scenario of the gamma radiation sources localization but can be expanded to other cases even outside the CBRN domain.

augmented reality, mobile robot, GNSS, camera calibration, radiological sources

augmented reality, mobile robot, GNSS, camera calibration, radiological sources

LÁZNA, T.

2019

03.09.2018

IFAC-PapersOnLine

2405-8963

IFAC-PapersOnLine

51

6

Spojené království Velké Británie a Severního Irska

444

449

6

pdes2018-lazna-final