Accession Number : ADA327036

Title :   STRIPE: Remote Driving Using Limited Image Data.

Descriptive Note : Doctoral thesis,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA DEPT OF COMPUTER SCIENCE

Personal Author(s) : Kay, Jennifer

PDF Url : ADA327036

Report Date : JAN 1997

Pagination or Media Count : 225

Abstract : Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of "waypoints" in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately

Descriptors :   *IMAGE PROCESSING, *ROBOTICS, *REMOTE CONTROL, DATA BASES, ALGORITHMS, COMPUTER COMMUNICATIONS, REAL TIME, ROBOTS, RESOLUTION, THESES, COMMUNICATIONS NETWORKS, AUTONOMOUS NAVIGATION, CONTROL THEORY, MAN COMPUTER INTERFACE, DATA LINKS, REMOTELY PILOTED VEHICLES, SURFACE NAVIGATION.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE