A preliminary study on cooperative visual support by mobile camera for mobile robot teleoperation

In recent years, demands for teleoperation of mobile robot controlled by human operator is increasing. Providing raw images taken by remote cameras is one of the most primitives, but effective interface for operator in order to get information about remote place. It is obvious that the use of multiple mobile cameras enables to extend working area rather than fixed cameras. However, it is difficult to control the operated robot together with the mobile cameras. Therefore, mobile cameras should be endowed with capability of cooperative visual support which gives through appropriate camerawork. In this paper, we propose a method of self-arrangement toward the camerawork generation and finally it is examined through experiment.