A preliminary study on cooperative visual support by mobile camera for mobile robot teleoperation

Demands for teleoperation of mobile robot controlled by human operator are increasing. Providing raw images taken by remote cameras is one of the most primitives, but effective interface for operator in order to get information about the remote place. The use of multiple mobile cameras enables the system to extend the working area coverage than just using fixed cameras. However, it is difficult to control the operated robot together with the mobile cameras. Therefore, the mobile cameras should be equiped with the capability of cooperative visual support through appropriate camera-work. In this paper, we propose a method of self-arrangement toward the camera-work generation. Finally, the system is examined through experiment