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Real-time panospheric image dewarping and presentation for remote mobile robot control

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Abstract:

The panospheric camera used by novice drivers in the United States to navigate the Nomad robot across a desert in Chile provides an omnidirectional, ground-to-sky view of the remote robot's environment. This paper describes the texture mapping techniques used to continuously dewarp and display the image for tele-explorers in Pittsburgh, PA and Mountain View, CA.

Keywords: Mobile robot; human-robot interaction; robot interface.

Document Type: Regular Paper

DOI: http://dx.doi.org/10.1163/156855303765203047

Publication date: July 1, 2003

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