A teleoperation system for mobile robot BCAR-01 with multiple viewpoints virtual scene

To control mobile robot BCAR-01 remotely, a teleoperation system is presented with a multiple viewpoints virtual scene of the robot and its worksite. The constructed scene is used to get knowledge of the robot and its working environment, besides the real video feedback from the robot vision system. It can present images in multiple person viewpoints. In a complex task, operators can conveniently select different viewpoints to get the information of the robot status or target for different task process. Finally, the effectiveness of the teleoperation system is illustrated by experiments that the operator manipulates mobile robot BCAR-01.