Publication detail

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

LÁZNA, T.

Original Title

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

English Title

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

Type

conference paper

Language

en

Original Abstract

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.

English abstract

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.

Keywords

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

Released

03.09.2018

Pages from

444

Pages to

449

Pages count

6

Documents

BibTex


@inproceedings{BUT148500,
  author="Tomáš {Lázna}",
  title="The Visualization of Threats Using the Augmented Reality and a Remotely Controlled Robot",
  annote="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.",
  booktitle="IFAC-PapersOnLine",
  chapter="148500",
  doi="10.1016/j.ifacol.2018.07.113",
  howpublished="online",
  number="6",
  year="2018",
  month="september",
  pages="444--449",
  type="conference paper"
}