| 摘要 |
PROBLEM TO BE SOLVED: To provide a remote control system and a remote control apparatus facilitating remote control of a mobile body even if a line of low communication speed is used. SOLUTION: The remote control system 10 includes the remote control apparatus 14, in which a CPU 44 selects past information based on both past information and the latest mobile body information from a mobile body 12, and determines a virtual view point V. The CPU 44 generates a three-dimensional environmental image K and the virtual view point V based on the selected past information, and also generates a mobile body model M, a reference point B and a clipping center point based on the latest mobile body information and data regarding the mobile body model M, in a global coordinate system GC. The CPU 44 calculates an angle of view based on a distance d between the virtual viewpoint V and the reference point B, makes a perspective projection of the three-dimensional environmental image K and the mobile body model M from the virtual view point V toward the clipping center point to obtain a projected image, makes a clip from the projected image based on the angle of view thereby making a composite image, and converts the composite image into a display image of a predetermined size. The resulting display image is displayed on a monitor 36. COPYRIGHT: (C)2010,JPO&INPIT |
