Application of Stereo-Vision and Head-Mounted Display on Remotely Operated Vehicle

• Main Authors: Lin, Chwan-Quei, 林傳貴
• Other Authors: Liou Luen-Woei
• Format: Others
• Language: zh-TW
• Published: 1996
• Online Access: http://ndltd.ncl.edu.tw/handle/19685110180406780622

碩士 === 國立海洋大學 === 機械與輪機工程學系 === 84 === The operation of a ROV(Remotely Operated Vehicle) relies mainly on the videosignal taken by an on-board CCD camera.The change of viewing angle of the camera is done by a servo mechanism which is controlled by the operator using a knob.thus, the operator has to spare a hand to change the camera angle while he isengaged in manuvering ROV, which is inconvenient and less efficient. More over,the video taken by one camera can only provide a 2-D image. Therefore, the operator can not judge the distance from it, which is a major drawback. To improve the operation of ROV ,a camera servo-mechanism controller by HMD (Head-Mounted Display) and the use of stereo-vision were proposed in the research. A two-degree of freedom servo- mechanism powered by dc motor was built, to trace the movement of head, A linkage mechanism. A inclination sensor was forpitch angle detection, and a potentiometer were used for yaw angle detection. To achieve stereo-vision, two cameras were mounted on the camera servo-mechanism,the live video signals are transmitted to two LCD dispaly for creatingstereo-vision. The parameters for were established. Through testing and experiment, the camera servo-mechanism performs well when tracking head movement and the stereo-vision display did improve the ability of judging distance.