複数台のカメラとレーザ測域センサによる人工物の幾何情報を考慮した任意視点映像生成

概要

In robot teleoperation, operators greatly benefit from free viewpoint images of the environment around the robots. In this paper, a novel free view point image generation method is proposed. We use multiple cameras and a laser rangefinder mounted on a robot, and generate images with the assumption that walls are perpendicular to the floor surface. Experimental results show that our system can generate free viewpoint images in real time.