Extreme ROS Reality: A Representation Framework for Robots Using Image Dehazing and VR

Abstract

It is necessary to work in response to various situations when using robots at disaster areas. So, the complete automation remote control technique of the robot is essential. In recent years, the remote control technique of the robot is mainly focused on recognizing the working environment of the robot from the 2D monitor and performing the operation. In order to operate the robot correctly, a corresponding technique and sufficiently trained engineers are required. To this end, a new remote control technology that can operate more easily is required. Also, depending on the disaster environment that working at night or indoors is assumed, it becomes difficult to recognize the work environment correctly from the image by the sensor such as the camera due to insufficient light source. In this chapter, in order to solve these problems, as a development of new remote control technology, we propose the method of reproducing the working environment and the image improvement method under the low light source environment. In this chapter, we reproduce the working environment of remote areas by using virtual reality. In addition, we improve the image under low light source environment using haze removal algorithm. The work environment of the robot is acquired by RGBD sensor. Image improvement processing is performed on the obtained color image, and the image data is transmitted to a remote place where the operator is located via WebSocket. The experiments show that our method reproduces the working environment of the robot as point group to the virtual reality space and examine its usefulness.