Location of the Mobile Robot CENTAURE in a Modelled Environment with PYRAMIDE

  • Ph. Even
  • L. Marce
  • J. Morillon
  • R. Fournier
Conference paper


Teleoperation of vehicles or manipulators can become much easier if a geometric model of the environment and of the robot is provided. From this model it is possible to rebuild data for operators and to elaborate teleoperation or guiding aids.

So PYRAMIDE was conceived at IRISA as a geometric modelling based on operators cognitive knowledge connected to a CSG data base. This model is iterately built by manned matching of a synthesis image issued from the geometric model, with a real world image. Experiments were lead on real teleoperation site where PYRAMIDE was coupled with the mobile robot CENTAURE developped at UGRA. The precision and the execution time for geometrical resetting or modelling tasks were estimated. The satisfying results allow the evaluation of PYRAMIDE as an efficient tool for simulation and assistance for task programming and execution.


Mobile Robot Obstacle Avoidance Robot Path Task Programming Real World Image 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    B. Espiau, “Advanced teleoperation,” RoManSy 86, Cracow, September 1986.Google Scholar
  2. [2]
    S. Tachi and H. Arai, “Study on tele-existence (ii): three-dimensional color display with sensation of presence,” ’85 ICAR, pp. 345–352, Tokyo, September 9–10, 1985.Google Scholar
  3. [3]
    G. André and A. Fournier, “The generalized information feedback concept in computer aided teleoperation,” RoManSy 86, Cracow, September 1986.Google Scholar
  4. [4]
    B. Faverjon, “Obstacle avoidance using an octree in the configuration space of a manipulator,” IEEE Int. Conf. on Robotics, pp. 504–512, Atlanta, March 13–15, 1984.Google Scholar
  5. [5]
    O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” IEEE Int. Conf. on Robotics and Automation, pp. 500–505, St. Louis, March 25–28, 1985.Google Scholar
  6. [6]
    G. André, “Conception et modélisation de systèmes de perception proximétrique. application à la commande en téléopération,” Thèse D.I., IRISA-Rennes I, Octobre 1983.Google Scholar
  7. [7]
    S. Sakane, M. Ishii, and M. Kakikura, “Hand-eye simulator: a basic tool for off-line programming of visual sensors,” ’85 ICAR, pp. 103–110, Tokyo, September 9–10, 1985.Google Scholar
  8. [8]
    P. Even and L. Marcé, “Pyramide: an interactive tool for modelling of teleoperation environments.,” IEEE Int. Workshop on Intelligent Robots and Systems, pp. 725 — 730, Tokyo, Oct. 31 - Nov. 2, 1988.Google Scholar
  9. [9]
    G. Pascoe, “Elements of object-oriented programming,” Byte, pp. 139–144, August 1986.Google Scholar
  10. [10]
    D. Scapin, “Guide ergonomique de conception des interfaces homme-machine,” Rapport Technique No 77, INRIA, Octobre 1986.Google Scholar
  11. [11]
    G. Clément and E. Villedieu, “Mobile robot for hostile environments.,” Proc. of the Int. Topical Meeting on Remote Systems and Robotics in Hostile Environments, pp. 270–277, Pasco, Washington, March29 - April 2 1987.Google Scholar
  12. [12]
    F. Chaumette and P. Rives, “Réalisation et calibration d’un système expérimental de vision composé d’une caméra mobile embarquée sur un robot manipulateur.,” Publication Interne 454, IRISA, Février 1989.Google Scholar
  13. [13]
    R. Horand, B. Conio, O. Leboulleux, and B. Lacolle, “An analytic solution for the perspective 4-point problem.,” To appear in Computer Vision, Graphics, and Image Processing, 1989.Google Scholar
  14. [14]
    P. Even and L. Marcé, “3d modelling of a teleoperation environment with pyramide.,” Third Topical Meeting on Robotics and Remote Systems, Charleston, South-Carolina, March 1316, 1989.Google Scholar
  15. [15]
    R. Fournier, P. Gravez, M. Dupont, and J. Gaillard, “Computer aided teleoperation of the centaure remote controlled mobile robot,” Int. Symp. on Teleoperation and Control, pp. 97–105, Bristol, July 12–15, 1988.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • Ph. Even
    • 1
  • L. Marce
    • 1
  • J. Morillon
    • 2
  • R. Fournier
    • 2
  1. 1.Campus de BeaulieuIRISA / Centre INRIA de RennesRennes CedexFrance
  2. 2.CEA / UGRAFontenay-Aux-Roses CedexFrance

Personalised recommendations