| 遥操作系统中预测显示技术研究 |
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| 引用本文： | 孙汉旭,胡欢,贾庆轩,高欣.遥操作系统中预测显示技术研究[J].宇航学报,2013,34(11):1502-1508. |
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| 作者姓名： | 孙汉旭 胡欢 贾庆轩 高欣 |
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| 作者单位： | 北京邮电大学自动化学院，北京 100876 |
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| 基金项目： | 国家自然科学基金（61175080）；中央高校基本科研业务费专项资金资助（2012RC0504）；国家973项目(2013CB733000) |
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| 摘 要： | 通过虚拟预测技术对现有预测显示方法进行调研分析，提出了一种分类方法，有效地解决了遥操作中时延问题。针对目前计算机视觉领域的快速发展，提出一种基于视频流的在线重建模型的预测显示方法，该方法能够适应于非结构化的甚至是完全未知的环境，不仅能够解决机器人遥操作实验的时延问题，同时能够满足实时性的需求，文中指出了其关键技术。同时，实现了一个基于重建模型的预测显示原型系统，基于不同的时延条件，对通过时延视频构建的预测图像和真实采集到的图像进行了对比，验证了该方法能够补偿时延的影响,具有很好的预测效果。
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| 关 键 词： | 预测显示 遥操作 时延 图像建模 |
| 收稿时间： | 2013-01-05 |
Research on Predictive Display in Teleoperation System |
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| SUN Han xu,HU Huan,JIA Qing xuan,GAO Xin.Research on Predictive Display in Teleoperation System[J].Journal of Astronautics,2013,34(11):1502-1508. |
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| Authors: | SUN Han xu HU Huan JIA Qing xuan GAO Xin |
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| Affiliation: | Dept. Automation, Beijing University of Posts and Telecommunication, Beijing 100876, China |
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| Abstract: | To solve the problem of time delayed in teleoperation, predictive display based on virtual environment models is an effective method. In this paper, on the foundation of investigation and analysis for existing predictive display systems, a classification method is put forward. With the rapid development of computer vision, a predictive display based on 3D reconstruction on line using video stream is proposed. This method can be applied in the unstructured environment, even the unknown environment. This system not only solves the problem of time delay in teleoperation system, but also meets the real time demands in teleoperation. Meanwhile, its key techniques is pointed out. At the same time, a prototype predictive display system based on 3D model online reconstruction is development. Some experiments are also conducted in different delay time to evaluate the performance of the system. By comparing predictive image from reconstruction mode with real image, the experiment results indicate that this system can compensate the influence of time delay and have better predictive effect. |
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| Keywords: | Predictive display Teleoperation Time delay Image based reconstruction |
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