Visual Assistance Method for Teleoperation Systems with {6, 3} Tessellation

This paper describes an improved assistance method with visual images for teleoperation systems of offroad vehicles. Particularly, this paper examines the auxiliary information presented for operators with computer-graphics (CG) superimposed over the real/direct images of the machine site. In order to avoid degeneration of three dimensional (3D) images presenting for the operators, this paper discusses tessellation techniques used for the visual processing. The proposing method employs {6,3} tessellation instead of the other common ones, and consequently stable visibility would be obtained for the teleoperation task. For this purpose, a notable discrete coordinate system, which has been studied especially for {6,3} tessellations, would be utilized. The outlines of the formularlization framework with the above mentioned coordinate system will be presented, followed by application examples of this improved scheme to the arbitrary terrain surface description for highlighting the advantages of the proposing method.