2 T. SICE Vol.41 No.12 December Figure PC (HMD) (Figure 2) HMD 9.8[m/s 2 ] 0 (Figure 3-(a)) RS-232C NTSC HMD DSC PC Converter Controlle

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1 Vol.41, No.12, 1/ AR-Based Assistance System to Search Disaster Victims Using Teleoperated Unmanned Helicopter Masanao Koeda,YoshioMatsumoto and Tsukasa Ogasawara In this paper, we introduce an immersive teleoperating system for an unmanned helicopter and an AR-based assistance system for searching disaster victims. In this system, an operator carries a backpack with a laptop PC and controls the helicopter remotely while watching a surrounding view of the helicopter through a head mounted display(hmd). Virtual buildings and textual annotations assist the search operation of disaster victims indicating the position to search rapidly and intensively. The position and the attitude of the helicopter is measured by a GPS and a gyroscope, and transmitted to the operator s PC via a wireless LAN. Using this system, we conducted experiments to find persons and verified the feasibility. Key Words: Unmanned Helicopter, Teleoperation, Rescue, Augmented Reality , ,054 1) ) Ritsumeikan University, College of Information Science and Engineering, Department of Human and Computer Intelligence, Noji Higashi Kusatsu, Shiga, Japan. Nara Institute of Science and Technology, Graduate School of Information Science, Takayama, Ikoma, Nara, Japan. Received April 5, 2005 Revised September 6, ) 4) 7) Fig. 1 Transmitter Image Receiver Helicopter Immersive Display Control Operator Conceptual Diagram of Immersive Teleoperating System TR 0012/105/ c 2005 SICE

2 2 T. SICE Vol.41 No.12 December Figure PC (HMD) (Figure 2) HMD 9.8[m/s 2 ] 0 (Figure 3-(a)) RS-232C NTSC HMD DSC PC Converter Controller Subject Fig. 4 (a) Normal Mode 12[m] Fig. 3 Landing Point 9[m] (b) Immersive Mode Snapshots of Simulator Obstacle 5[m] 9[m] Takeoff Point 3[m] Operator Position of Operator, Takeoff Point, Landing Point, and Obstacle (Figure 3-(b)) 5 Figure 4 10 Figure Fig. 2 System Configuration of Simulator 1

41 12 2005 12 3 Time [s] Distance [m] 180 160 140 120 100 80 60 40 20 0 320 280 240 200 160 120 80 40 0 Fig.

HyperOmni Vision Figure 6 HyperOmni Vision 30[fps] PC HMD HMD 2 (FMA CO-PILOT G550T) 1 2. 3 HyperOmni Vision Figure 7 Z 3 (X, Y, Z) Helicopter Omnidirectional Fig.

3 Time [s] Distance [m] Fig. 5 Normal Mode Immersive Mode A B C D E Subject (a) Time to Complete Normal Mode Immersive Mode A B C D E Subject (b) Total Flight Distance Experimental Result Using Simulator HyperOmni Vision 8) HyperOmni Vision Figure 6 HyperOmni Vision 30[fps] PC HMD HMD 2 (FMA CO-PILOT G550T) HyperOmni Vision Figure 7 Z 3 (X, Y, Z) Helicopter Omnidirectional Fig. 6 Wireless Video Receiver PC Wireless Video Transmitter HMD System Overview of Immersive Teleoperating System CCD Plane Focal Point Fig. 7 c c Z Hyperboloidal Mirror f b O p(x,y) Y y x X Center P(X,Y,Z) Display Area Perspective Plane (Look-up Table) Geometry of HyperOmni Vision (0, 0, +c) (0, 0, c) X 2 + Y 2 a 2 Z2 b 2 = 1, Z > 0 a, b, c c 2 = a 2 + b 2 CCD xy XY O C f P(X, Y, Z) p(x, y) x, y (b 2 c 2 )fx x = (b 2 + c 2 )(Z c) 2bc X 2 + Y 2 +(Z c) 2 (b 2 c 2 )fy y = (b 2 + c 2 )(Z c) 2bc X 2 + Y 2 +(Z c) 2 XY Z a, b, c, f CCD CCD PentiumIII 1[GHz] CPU 512[MB]

Fig. 8 Emergency Drill 2002 in Ikoma, Nara PC Z Z

4 2002 8 Figure 8-(a) Figure 8-(b) PC HMD HMD Figure

Systems i-glasseslcx2) 35[deg] 40[deg] 120 100[pixel]

4 4 T. SICE Vol.41 No.12 December 2005 (a) Unmanned Helicopter (b) Operator Fig. 8 Emergency Drill 2002 in Ikoma, Nara PC Z Z θ[deg] Figure 8-(a) Figure 8-(b) PC HMD HMD Figure 9-(a) ( [pixel]) Figure 9-(b) HMD(i-O Display Systems i-glasseslcx2) 35[deg] 40[deg] [pixel] 200[deg] 9) 10) 13) HMD 3. 14) 3. 1 Fig. 9 GPS Omnidirectional Fig. 10 (a) Omnidirectional Image (b) Perspective Image Captured Image of Target Building, NotePC, Wireless LAN System Overview of AR-Based Assistnce System GPS PC LAN Figure 11,

41 12 2005 12 5 GPS PCMCIA Wireless LAN -Serial Converter NotePC Helicopter RS- 232C IEEE 1394 NTSC

Antenna Head Tracker Data Relay Station Operator Fig. 11 System Diagram Head Mounted Display Fig.

Controller Backpack Evacation_Area A Library Laptop PC with WirelessLAN Fig.

14 Location of Textual Annotation Figure 13 CG (Evacuation Area) (Medical Center) (Police Box)

Figure 15 2 Figure 16 Figure 16-(d),(e) 4.

5 GPS PCMCIA Wireless LAN -Serial Converter NotePC Helicopter RS- 232C IEEE 1394 NTSC DV Converter Omnidirectional Wireless LAN Access Point Wireless LAN NotePC NTSC HMD External Antenna Head Tracker Data Relay Station Operator Fig. 11 System Diagram Head Mounted Display Fig. 13 Virtual Buildings City_Office Police_Box Elementary_School Fire_Department Medical_Center Controller Backpack Evacation_Area A Library Laptop PC with WirelessLAN Fig. 12 Wearable Augmented Reality Environment Fig. 14 Location of Textual Annotation Figure 13 CG (Evacuation Area) (Medical Center) (Police Box) (Fire Department) (City Office) (Elementary School) (Library) Figure 14 CG OpenGL Figure 14 A Figure 15 2 Figure 16 Figure 16-(d),(e) 4. 15) CMOS 16) 17) (JST) (CREST) R. Miller, O. Amidi, and M. Delouis, Arctic test flights of the CMU autonomous helicopter, Proceeding of the Association for Unmanned Vehicle Systems International 1999, 26th Annual Symposium,

6 6 T. SICE Vol.41 No.12 December 2005 Latitude CSVC , (CMOS ) : ,, (PRMU) Vol.104, No.447, pp.19-24, Angle[deg] Fig. 15 yaw roll pitch Longitude (a) Position Time[s] (b) Attitude Position and Attitude of Unmanned Helicopter during the Experiment IEEE Vol.18, No.7, pp , Proceedings of the 47th Annual Conference of the Institute of Systems, Control and Information Engineers, pp , C pp No K. Yamazawa, Y. Yagi, and M. Yachida, New real-time omnidirectional image sensor with hyperboloidal mirror, Proceedings of 8th Scandinavian Conf. on Image Analysis, Vol.2, pp , Tromso, Norway, Vol.57, No.81, pp.22-26, C. Cruz-Neira, D.J. Sandin, T.A. DeFanti, Surround- Screen Projection Based Virtual Reality: The Design and Implementation of the CAVE, Proceedings of ACM SIG- GRAPH 93, pp , VisionStation: 12 VR No.80, pp.84-89, : Ensphered Vision Vol.4, No.3, pp , R. Azuma, A Survey of Augmented Reality, Presense, 6:4, pp , ,,

7 (a) 185[s] (b) 198[s] (c) 212[s] (d) 225[s] (e) 239[s] (f) 252[s] Fig. 16 Snapshots of Generated Image with Annotations and Found Person around the Annotation: Evacuation Area

& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro

& Vol.5 No (Oct. 2015) TV 1,2,a) , Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Ro TV 1,2,a) 1 2 2015 1 26, 2015 5 21 Augmented TV TV AR Augmented Reality 3DCG TV Estimation of TV Screen Position and Rotation Using Mobile Device Hiroyuki Kawakita 1,2,a) Toshio Nakagawa 1 Makoto Sato