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  • 學位論文

基於立體視覺與頭部動作追蹤之遙現系統

Teleyes: a Telepresence System based on Stereoscopic Vision and Head Motion Tracking

指導教授 : 康仕仲

摘要


本研究發展一遙現系統以改善現有遠端控制系統人機介面之不足。現今遠端控制系統之影像介面多採用二維影像,深度資訊之不足易導致對遠端環境認知缺乏,操控者對於影像中物件之速度、尺寸以及彼此距離之判斷皆為相對關係,不精確的空間感進而造成安全隱憂。除此之外,現今系統在遠端視角控制上,於固定位置之單一視角控制上使用多自由度控制而易造成遲滯與迷向,於實務操作上,操控效率高度仰賴操控者經驗。有鑑於此,本研究開發了一遙現系統,應用立體視覺與動作追蹤之技術,改善距離感知與控制介面之不足。發展一符合人眼透視之感測器模組,進行雙眼影像擷取,經由無線傳輸與影像處理後,再透過頭戴式顯示器對操控者展示。頭戴式顯示器上嵌入慣性測量感測器,實時追蹤操控者頭部各軸向的轉動量,並將其與裝載立體視覺感測器之伺服雲台同步。透過三維之立體視覺回饋、操控者以頭部轉動方式改變視角,提供深度資訊判斷能力並簡化控制介面自由度,減少肇因於操控者面對影像失真與控制複雜之錯誤判斷,藉以降低風險與提升效率。驗證方面,本研究設計一實驗方法,使五名受測者重覆執行特定任務,分別比較使用現有系統與本研究開發之系統,模擬實際系統操控之情境。結果顯示,相較於現行系統,本系統顯著降低其中四名操控者之距離判斷誤差分別達66.84%、47.75%、33.41%、40.58%,亦顯著縮短其中四名操控者之任務時間分別達19.24%、23.86%、22.63%、0.93%。總結來說,本研究開發之系統能夠提升操控者對於遠端環境之認知,並且提升操控效率,進而增進任務執行效率與降低人為誤判造成之事故。

關鍵字

遙現 立體視覺 動作追蹤 遙控 人機界面

並列摘要


This research develops a telepresence system aiming to reduce visual distortion of remote environment. Most of teleoperation applications take place in remote environments that are unstructured and not precisely known a priori. Therefore, fully autonomous control of an unmanned system is infeasible in such cases. To impose human intelligence on the task to cope with uncertainties, an improved telepresence system that eliminates the gap between machine and operator is essential. Current methods mainly use two-dimensional (2D) image covering a restricted field-of-view (FOV) as visual aid and numeric onboard sensor readings as references for operators. Since, sensory cues are significantly lost which include ambient visual information, depth information, and kinesthetic input. Also, in cases that use unmanned vehicle system (UVS) to inspect fully unknown areas, sensor information is not applicable until it is analyzed or processed. Instead of sending multiple sensors into the field with unmanned vehicles and retrieve a large amount of data for time-consuming post analysis, an instinct and sensory method for quick understanding and reconstruction of onsite situation is needed. The major effort of this research is taking advantage of state-of-art technologies of three-dimensional (3D) input/output and developing an avatar-like mechanism to synchronize the physical behavior of an operator. Two of 3D input/output methods are used in this research: stereoscopic vision and motion tracking. The system is designed to work under a close-loop control with human feedback involved. Two cameras that are optimized according to human eyes angle-of-view (AOV) for accommodating human eyes’ perspective are used as stereoscopic vision input on the unmanned vehicle. The stereoscopic image is then streamed back to the operator through radio downlink in realtime. On the operator end, a head mount display (HMD) is used for displaying the stereoscopic image and tracking head movement of the operator with embedded sensors. The head tracking data are interpreted to control signal and returned to unmanned vehicle for controlling a three-axis gimbal mechanism on which the two cameras are installed. Then the loop is closed by synchronizing the operator and cameras’ FOV. Teleyes system has been validated on a designed experimental application scenario comparing with current methods with five operators. The result shows that Teleyes significantly reduces distance error of four test operators by 66.84%, 47.75%, 33.41%, and 40.58%. It also significantly reduces time usage of four test operators by 19.24%, 23.86%, 22.63%, and 0.93%. In conclusion, the Teleyes system has improved visual experience and operating efficiency that have potential on saving general resources and expanding the application. The developed system provides operator an immersive first-person view (FPV) that provides the operator a visual experience as being onboard.

參考文獻


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