A study on quantitative analysis of the relationship between camera image characteristics and operability of rescue robots Online publication date: Fri, 26-Apr-2019
by Noritaka Sato; Masayoshi Koiji; Yoshifumi Morita
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 7, No. 6, 2017
Abstract: Many rescue robots have been developed that are teleoperated using images from a camera mounted on the robots. This study examined how the conditions of the images from the camera affect the operability of a rescue robot used for a search task in a 2D maze. Two experiments with subject were performed using a robot simulator USARSim, whereby the first one was a preliminary experiment. As a first, this study compares 100 combinations of the position and posture of a camera mounted on a robot. In the second experiment, 16 images with various indices were used in the main experiment. The indices xmin and h use the images captured by the camera to provide information relating to the robot and the environment around the robot, respectively. These were defined from the results of the preliminary experiment. The tasks performed and scoring method used for the experiments were determined by referring to the DHS-NIST-ASTM International Standard Test Methods for Rescue Robots. The results of the main experiment showed that the operability of the robot has an extreme value when the indices (xmin, h) were (100, 3,000).
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com