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arXiv · 2302.00362

A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness

Martin Oehler·Oskar von Stryk
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Abstract

During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In this paper, we present a flexible framework for virtual projections to increase situation awareness based on a novel method to fuse multiple cameras mounted anywhere on the robot. Moreover, we propose a complementary approach to improve scene understanding by fusing camera images and geometric 3D Lidar data to obtain a colorized point cloud. The implementation on a compact omnidirectional camera reduces system complexity considerably and solves multiple use-cases on a much smaller footprint compared to traditional approaches such as actuated pan-tilt units. Finally, we demonstrate the generality of the approach by application to the multi-camera system of the Boston Dynamics Spot. The software implementation is available as open-source ROS packages on the project page https://tu-darmstadt-ros-pkg.github.io/omnidirectional_vision.

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Martin Oehler, Oskar von Stryk. 2023-02-01. A Flexible Framework for Virtual Omnidirectional Vision to Improve Operator Situation Awareness. https://doi.org/10.1109/ecmr50962.2021.9568840

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