Remote Display Technology For Remote Vehicle Control

Remote display technology is a key technology for unmanned vehicle navigation and control. Its core is to provide the ope rator with real-time and abundant far-end scene information to ensure the quality of the remote operation. The traditional remote operation based on the visual information feedback suffers from the limited view of the camera and the inability to obtain the 3D environmental information. With the development of the radar precision, the increase in computing power, and also the advances of the video compression technology, it becomes an effective way to boost the performance of the remote control by utilizing the virtual reality technology. To this end, this thesis propose a 3D terrain display method for the remote control of the unmanned vehicle targeting at the cross-country environment, based on which a 3D terrain display system is built.The main works of this thesis are as follows:1. A 3D terrain display method for the remote control of the unmanned vehicle is proposed. Firstly, to meet the real-time requirement of the terrian modeling, a fast geometrical terrian modeling method is developed. Then, based on the geometric terrian model, and also utilizing the rectified image data and radar data, two ways for the 3D terrian rendering are proposed. 1). To make the rendering results visible and realistic, a picture- level realistic terrian rendering approach based on texture projection and billboard technique is developed; 2). To meet the requirement of real-time and dynamic update, a resolution-ajustable point coloring terrian rendering method is proposed. This approach avoids the interpolation procedure in the texture projection step, thus enhancing the efficiency of the rendering. By adjusting the size of the vertex, a good compromize between the time consumption and modeling effect could be achieved.2. A 3D-visualized terrain modeling system for remote vehicle control is implemented in this paper. A realistic terrain rendering module.a range-colored terrain rendering module and night vision module are implemented for the purpose of acclimating to different environment. The proposed system supports viewpoint transformation, so as to overcome the limitation of conventional tele-operation method in which the field of view is highly limited. The experimental results based on the real data from sensors mounted on the vehicle verify the effectiveness of the proposed system.