惑星探査ローバー遠隔操縦のための広視野視覚システムの開発―視線入力装置を用いたカメラ方向制御の精度評価手法―

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/12/01

タイトル(英語): Development of Wide-Angle Vision System for Remote Navigation of Planetary Exploring Rover―Accuracy Evaluation Method of Camera View Direction Control using Eye-Tracking Device―

著者名: 清水　創太（慶應義塾大学大学院理工学研究科），中村　和貴（慶應義塾大学大学院理工学研究科），長谷部　信行（早稲田大学理工学術院）

著者名(英語): Sota Shimizu (Graduate School of Science and Technology, Keio University), Kazuki Nakamura (Graduate School of Science and Technology, Keio University), Nobuyuki Hasebe (Advanced Research Institute for Science and Engineering, Waseda University)

キーワード: 惑星探査ローバー，広角中心窩センサ，多機能的利用，眼球運動計測装置，精度指標　　planetary exploring rover，wide-angle fovea vision sensor，multi-purpose use，eye-tracking device，accuracy index

要約(英語): Wide-Angle Fovea Vision Sensor (WAFVS) system, inspired by the functionality of the human eye, was designed and developed to allow single vision sensors to be used for multiple purposes. The authors think that the WAFVS system is suitable for use in planetary exploring rovers, because one of severe problems in the vision systems of rovers, UAVs and satellites involves the management of payloads. This paper describes the multi-purpose utilization of the WAFVS system, which includes the following tasks: (1) observing the environment displayed to the operator to allow the remote navigation of the rover, (2) recording images of important scenes by changing the view direction of the WAFVS, and (3) monitoring whether the instruments on the rover work correctly. Moreover, this paper includes experiments and discusses a technique to display images to the operator when an eye-tracking device is applied as a target coordinate input device, in order to assist the operator with their tasks. An accuracy index, i.e., a measurement error of a target, is defined in order to evaluate the performance of a combination that incorporates the vision sensor, the coordinate input device, and the image display method.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.12 （2015）

本誌掲載ページ: 1138-1143 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/135/12/135_1138/_article/-char/ja/