Japan Geoscience Union Meeting 2015

Presentation information


Symbol P (Space and Planetary Sciences) » P-PS Planetary Sciences

[P-PS23] Lunar science and exploration

Mon. May 25, 2015 4:15 PM - 6:00 PM A02 (APA HOTEL&RESORT TOKYO BAY MAKUHARI)

Convener:*Hiroshi Nagaoka(Waseda Univ.), Tomokatsu Morota(Graduate School of Environmental Studies, Nagoya University), Masaki N Nishino(Solar-Terrestrial Environment Laboratory, Nagoya University), Chikatoshi Honda(The University of Aizu), Yuichiro Cho(Department of Physics, Rikkyo University), Chair:Makoto Hareyama(Department of Physiology (Physics), St. Marianna University School of Medicine), Ryuhei Yamada(National Astronomical Observatory of Japan, RISE project)

5:15 PM - 5:30 PM

[PPS23-12] Visual Tracking using SIFT to Solve Time-Delay Problem in Remote Operation

*Hiroyuki NISHIYAMA1, Sota SHIMIZU2, Hiroshi NAGAOKA1, Nobuyuki HASEBE2 (1.Dept. of Applied Physics, Waseda University, 2.ARISE, Waseda University)

Keywords:Exploring Rover, Remote Operation, Visual Tracking, SIFT, Wide Angle Fovea Sensor, Time Delay

This paper proposes and describes a method to solve a time-delay problem when a direction of a camera in the wide angle fovea vision system (WAFVS) equipped on a lunar exploring rover is contorlled remotely from the ground control station on the earch. That is, we need to control the camera view direction acculately in order to obtain visible ray band images of a target in detail using WAFVS, but the time-delay often causes WAFVS to fail to capture the target in the central field of view of the input image when the rover is moving around. The authors acheive correct camera view direction control by applying SIFT operator to track a target candidate from past images to future images storaged temporarily in the computer on the rover. Experimental results show this implementation is successfully done and indicate how to apply WAFVS for this task.