Development of Small-Size Multi Camera System for Snake-like Robot, and Display of Wide View-Angle Image

Author

Midorikawa, Naoki ; Ohno, Kazunori ; Tadokoro, Satoshi ; Kuwahara, Hiroyuki

Author_Institution

Tohoku University, 6-6-01 Aramaki Aza Aoba, Aoba-ku, Sendai, Japan, midorikawa@rm.si.tohoku.ac.jp

fYear

2007

fDate

27-29 Sept. 2007

Firstpage

1

Lastpage

6

Abstract

"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.

Keywords

CMOS image sensors; Cameras; Control systems; Crawlers; Displays; Image segmentation; Orbital robotics; Robot control; Robot vision systems; Space technology; FPGA; multi-camera system; rescue robot; snake-like robot; wide view-angle image;

fLanguage

English

Publisher

ieee

Conference_Titel

Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on

Conference_Location

Rome, Italy

Print_ISBN

978-1-4244-1569-4

Electronic_ISBN

978-1-4244-1569-4

Type

conf

DOI

10.1109/SSRR.2007.4381256

Filename

4381256