球面レンダリングによる低遅延没入型6D遠隔可視化
Low-Latency Immersive 6D Televisualization with Spherical Rendering
6Dロボットアームに搭載したステレオカメラの映像を球面としてレンダリングし、頭部姿勢変化に高速追従する低遅延VR遠隔操作手法を提案。
著者: Max Schwarz, Sven Behnke
分類: cs.RO
原文アブストラクト
We present a method for real-time stereo scene capture and remote VR visualization that allows a human operator to freely move their head and thus intuitively control their perspective during teleoperation. The stereo camera is mounted on a 6D robotic arm, which follows the operator's head pose. Existing VR teleoperation systems either induce high latencies on head movements, leading to motion sickness, or use scene reconstruction methods to allow re-rendering of the scene from different perspectives, which cannot handle dynamic scenes effectively. Instead, we present a decoupled approach which renders captured camera images as spheres, assuming constant distance. This allows very fast re-rendering on head pose changes while keeping the resulting temporary distortions during head translations small. We present qualitative examples, quantitative results in the form of lab experiments and a small user study, showing that our method outperforms other visualization methods.
