Abstract
Teleoperation of vehicles and manipulators can become much easier if a geometric model of the environment and of the robot is provided. However in case of an accident in hostile environment, we do not have always such models. In order to answer this drawback, we conceived a Generalized Information Management System called PYRAMIDE, capable of modelling a 3-d world from camera views, of locating the robot in this environment and of producing synthetic displays for the assistance of the operator while guiding a robot. This article relates an experimental phase where PYRAMIDE was coupled with the intervention vehicle CENTAURE. Some results on the performance are given, and the potentialities offered in case of intervention are discussed.
Supported by a grant from the French Nuclear Agency.
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© 1990 Springer-Verlag
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Even, P., Marcé, L., Morillon, J., Fournier, R. (1990). The modelling system PYRAMIDE as an interactive help for the guidance of the inspection vehicle CENTAURE. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042529
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DOI: https://doi.org/10.1007/BFb0042529
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