Virtual camera view composing method using monocular camera for mobile robot teleoperation

It is important for an operator to easily understand surroundings of a mobile robot in teleoperation. We propose a new virtual camera view composing method in this paper. The virtual camera view consists of a real time image captured with a monocular camera mounted on the mobile robot and a virtual image generated from 3D measurement results of image features and stored images while the mobile robot is moving. Since the field of view of the virtual camera view is wider than that of the real camera view, the operator can see the left and right sides of the mobile robot, and this virtual image makes the teleoperation control easier.