Situational awareness for teleoperation of a remote vehicle

摘要

A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle comprises: receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image; applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image; combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and displaying the 3D map display on an operator control unit used to control the remote vehicle.

主权项

1. A system for providing improved situational awareness for teleoperation of a remote vehicle having a chassis, the system comprising:
a remote vehicle having a range data payload including an imaging device mounted to obtain an unobstructed view of the remote vehicle's local environment, the imaging device providing data for construction of a 3D image; and an operator control unit including a display screen displaying the 3D image of an area around the remote vehicle, the 3D image being constructed from a raw range data produced by the imaging device.