[P-PS23] 月の科学と探査

[PPS23-12] 遠隔操作時の時間遅れ問題を解決するSIFTを用いた過去から未来へのビジュアルトラッキング

*西山 裕之¹、清水 創太²、長岡 央¹、長谷部 信行² (1.早稲田大学応用物理学科、2.早稲田大学理工学術院総合研究所)

キーワード：探査ローバー, 遠隔操縦, ビジュアルトラッキング, シフト, 広角中心窩センサ, 時間遅れ

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.