Analysis of stereo camera parameters effect on stereo matching performed by remote operator

摘要

To move toward productive remote work, the burden and annoyance associated with remote operation using remote controlled robots must be reduced so that people with severe disabilities may participate without going out. Our proposed interface directly uses the parallax of a stereo image captured by a stereo camera and the stereo matching by the operators to reduce the burden in recognizing the remote depth position error. In this study, we analyzed the effect of stereo camera parameters on the displacement of the corresponding spatial feature points in each image and then verified with the machine to determine the most advantageous interface design. We found that if the parameter of the baseline length was large, several properties, which may assist in reducing the burden of remote operation, varies in accordance with the camera posture.