类型：期刊

标题：UNMANNED GROUND VEHICLE WITH VIRTUAL REALITY VISION

参考译名：具有虚拟现实视觉的无人地面车辆

简介：This paper aims to describe the design and implementation of an Unmanned Ground Vehicle (UGV) and a smartphone virtual reality (VR) head mounted display (HMD) which enables visual situation awareness by giving theoperator the feel of "head on rover" while sending the video feeds to separate operator computer for objectdetection and 3-D model creation of the UGV surrounding objects. The main contribution of this paper is ofthree folds: (i) the novel design of the HMD; the paper proposes an alternative design to the 3-D interfacedesigns recently used in tele-operated search and rescue (SAR) UGVs. Unlike other designs that suggest toautomatically move the whole UGV about two axes (pitch and yaw) with the movement of the head, this designsuggests to let a separate unit of the UGV automatically move with the movement of the head and provide theuser with VR. (ii) the distributed feature; the design allows multiple users to connect to the UGV using awireless link in a secure way to receive video feeds from three on-board cameras. This feature facilitatescooperative team work in urban search and rescue (USAR) applications (a contemporary research issue in SARUGV). (iii) a novel feature of the design is the simultaneous video feeds which are sent to the operator stationcomputer for object detection using the scale-invariant feature transform (SIFT) algorithm and 3-D modelconstruction of the UGV’s surrounding objects from 2-D images of these objects. The design was realized usinga smart phone-based HMD, which captures head movements in real time using its inertial measurement unit(IMU) and transmits it to three motors mounted on a rover to provide the movement about three axes (pitch, yawand roll). The operator controls the motors via the HMD or a gamepad. Three on-board cameras provide videofeeds which are transmitted to the HMD and operator computer. A software performs object detection andbuilds a 3-D model from the captured 2-D images. The realistic design constraints were identified, then thehardware/software functions that meet the constraints were listed. The UGV was implemented in a laboratoryenvironment. It was tested over soft and rough terrain. Results showed that the UGV has higher visualinspection capabilities compared to other existing SAR UGVs. Furthermore, it was found that the maximumspeed of 3.3 m/s, six-wheel differential-drive chassis and spiked air-filled rubber tires of the rover gave it highmanoeuvrability in open rough terrain compared to other SAR UGVs found in literature. The high visualinspection capabilities and relatively high speed of the UGV make it a good choice for planetary explorationand military reconnaissance. The three-motors and stereoscopic camera can be easily mounted as a separateunit on a chassis that uses different locomotion mechanism (e.g. leg type or tracked type) to extend thefunctionality of a SAR UGV. The design can be used in building disparity maps and in constructing 3-D models,or in real time face recognition, real time object detection and autonomous driving based on disparity maps.

来源：【刊名】：Jordanian Journal of Computers and Information Technology【ISSN】：2415-1076

【EISSN】：2413-9351【语种】：eng【出版信息】：2018 Vol.4 No.1

链接： http://pan.ckcest.cn/rcservice//doc?doc_id=33648