TY - GEN
T1 - Development of small-size multi camera system for snake-like robot, and display of wide view-angle image
AU - Midorikawa, Naoki
AU - Ohno, Kazunori
AU - Tadokoro, Satoshi
AU - Kuwahara, Hiroyuki
PY - 2007
Y1 - 2007
N2 - "IRS Souryu" is snake-like robot that is used for victim search in narrow space. We aim at development of multi camera system for "IRS Souryu" and display of wide view angle image for controlling it and searching for victims by using the multi camera system. Advantages of our developed multi camera system are that 1. The number of cameras can be increased by adding multi camera module. 2. Multi camera module is small and has 4 small-size CMOS cameras, and 3. Length of cable can be extended easily because of use of Ethernet. In this paper, we describe concept of acquisition and display of wide view-angle visual information using the multi camera system. We explain composition of multi camera system and its installation on IRS Souryu. We performed an experiment of victim searching by IRS Souryu equipped with 32 cameras. An operator was able to find a victim without extra movement of the robot. Then, the operator was also able to find the next open space to move. We explain the details of the experiment.
AB - "IRS Souryu" is snake-like robot that is used for victim search in narrow space. We aim at development of multi camera system for "IRS Souryu" and display of wide view angle image for controlling it and searching for victims by using the multi camera system. Advantages of our developed multi camera system are that 1. The number of cameras can be increased by adding multi camera module. 2. Multi camera module is small and has 4 small-size CMOS cameras, and 3. Length of cable can be extended easily because of use of Ethernet. In this paper, we describe concept of acquisition and display of wide view-angle visual information using the multi camera system. We explain composition of multi camera system and its installation on IRS Souryu. We performed an experiment of victim searching by IRS Souryu equipped with 32 cameras. An operator was able to find a victim without extra movement of the robot. Then, the operator was also able to find the next open space to move. We explain the details of the experiment.
KW - FPGA
KW - Multi-camera system
KW - Rescue robot
KW - Snake-like robot
KW - Wide view-angle image
UR - http://www.scopus.com/inward/record.url?scp=47949115030&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=47949115030&partnerID=8YFLogxK
U2 - 10.1109/SSRR.2007.4381256
DO - 10.1109/SSRR.2007.4381256
M3 - Conference contribution
AN - SCOPUS:47949115030
SN - 9781424415694
T3 - SSRR2007 - IEEE International Workshop on Safety, Security and Rescue Robotics Proceedings
BT - SSRR2007 - IEEE International Workshop on Safety, Security and Rescue Robotics Proceedings
T2 - IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR2007
Y2 - 27 September 2007 through 29 September 2007
ER -