Synthesized scene recollection for robot teleoperation

Naoji Shiroma, Hirokazu Nagai, Maki Sugimoto, Masahiko Inami, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper we propose an innovative robot remote control method, a synthesized scene recollection method, which provides the operator with a bird’seye view image of the robot in an environment which is generated by using position and orientation information of the robot, stored image history data captured by a camera mounted on the robot, and the model of the robot. This method helps the operator to easily recognize the situation of the robot even in unknown surroundings and enables the remote operation ability of a robot to be improved. This method is mainly based on two technologies, robot positioning and image synthesis. In this paper we use scan matching of laser rangefinder’s scan data for robot positioning and realized self-contained implementation of the proposed method in 2D horizontal plane.

Original languageEnglish
Title of host publicationRobotics
Subtitle of host publicationResults of the 5th International Conference
EditorsSalah Sukkariah, Peter Corke
PublisherSpringer Verlag
Number of pages12
ISBN (Print)3540334521, 9783540334521, 9783540334521
Publication statusPublished - 2006
Externally publishedYes
Event5th International Conference on Field and Service Robotics, FSR 2005 - Port Douglas, Australia
Duration: 2005 Jul 292005 Jul 31

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other5th International Conference on Field and Service Robotics, FSR 2005
CityPort Douglas


  • Image synthesis
  • Positioning
  • Scene recollection
  • Teleoperation

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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