Teleoperation system using past image records considering moving objects

In this paper, teleoperation system using past image records (SPIR) considering moving objects is proposed. SPIR virtually generates the scene looked from backward-tracking viewpoint by overlaying the CG model of the robot at the corresponding position on the background image which is got from the camera mounted on the robot at past time. However, moving objects cannot display correct positions, because the existing SPIR uses past static images as a background. In this study, to reflect moving objects, we improve three methods in the system. The first method is detection of moving objects. We install the particle filter algorithm in the system. The second method is elimination of moving objects on the background image. The third is overlaying moving objects at the correct position on the background image. Furthermore we have a verification experiment for the proposed system.