A control of a bomb disposal robot using a stereoscopic vision (non-reviewed)

Abstract

This paper introduces the use of stereoscopic images in Explosive Ordnance Disposal(EOD) tasks. A 3D image perception is a key in the ability to manipulate in remote environments. By using two video cameras and a special stereoscopic shuttering glass, three dimensional images can be displayed on a CRT monitor for assisting manipulation tasks. An important mission of a bomb disposal robot is for searching and removing explosive devices. During an actual telecontrol of a robot, the operator must stay far away from a dangerous area and watching a 2D image displayed on the monitor. It was found that 2D image introduced a depth error while operators try to manipulate the object or positioning a robot arm for aiming a disruptor to neutralize an electronics components of suspected objects. These problems can be remedied by using a 3-D stereoscopic image. This paper presents testing results of using 3-D stereoscopic image for EOD robot operations. Experiment results are indicated that 3-D image are suitable for aiding operators see realistic 3-D image and operators can perform a manipulating task successfully.