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

Abstract

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 robothuman-robot interactionrobot interface.