Occulusion-Free Video Superimposing System from Arbitrary Viewpoint Using a High-Speed Blinking LED Markers and Multiple RGB-D Sensors

The demand that a teleoperated robot performs tasks in hazardous area instead of humans has been grown recently. Conventional teleoperated robots are designed for operators to recognize the surrounding environment by presenting images from multiple cameras. However, a high level of skill is required to accurately grasp the situation by referring to multiple images simultaneously. To show understandable images to the operator, this paper proposes occulusion-free video super-imposing system using a high-speed blinking LED markers and multiple RGB-D sensors. For superimposition of multiple RGB-D data with a small misalignment even from high-speed teleoperated robots, the proposed video superimposing system updates the relative pose at high speed by using blinking LED markers. Through the experiment, the blinking LED markers obtained the position with an accuracy of about 1 cm and the attitude with an accuracy of about 1◦ and the update latency of the pose from the LED markers was 2.06 ms. Moreover, we also superimposed images with an update frequency of 60 Hz and an accuracy of about 1 cm. The high-speed feedback from LED markers realizes video superimposition with a small misalignment against high-speed pose fluctuation between RGB-D sensors.