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WO2008018156A1 - Procédé d'affichage d'image corrigée en fluctuation et système de commande à distance d'objet mobile utilisant le procédé - Google Patents

Procédé d'affichage d'image corrigée en fluctuation et système de commande à distance d'objet mobile utilisant le procédé Download PDF

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Publication number
WO2008018156A1
WO2008018156A1 PCT/JP2006/316123 JP2006316123W WO2008018156A1 WO 2008018156 A1 WO2008018156 A1 WO 2008018156A1 JP 2006316123 W JP2006316123 W JP 2006316123W WO 2008018156 A1 WO2008018156 A1 WO 2008018156A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
information
received
time
operation machine
Prior art date
Application number
PCT/JP2006/316123
Other languages
English (en)
Japanese (ja)
Inventor
Yuji Katayama
Yutaka Kidawara
Mina Aoki
Kenji Tanaka
Original Assignee
Sanritz Automation Co., Ltd.
National Institute Of Information And Communications Technology, Incorporated Administrative Agency
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sanritz Automation Co., Ltd., National Institute Of Information And Communications Technology, Incorporated Administrative Agency filed Critical Sanritz Automation Co., Ltd.
Priority to PCT/JP2006/316123 priority Critical patent/WO2008018156A1/fr
Priority to JP2008528709A priority patent/JP5140889B2/ja
Publication of WO2008018156A1 publication Critical patent/WO2008018156A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/41—Structure of client; Structure of client peripherals
    • H04N21/422—Input-only peripherals, i.e. input devices connected to specially adapted client devices, e.g. global positioning system [GPS]
    • H04N21/42204—User interfaces specially adapted for controlling a client device through a remote control device; Remote control devices therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/61—Network physical structure; Signal processing
    • H04N21/6106—Network physical structure; Signal processing specially adapted to the downstream path of the transmission network
    • H04N21/6125—Network physical structure; Signal processing specially adapted to the downstream path of the transmission network involving transmission via Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/60—Network structure or processes for video distribution between server and client or between remote clients; Control signalling between clients, server and network components; Transmission of management data between server and client, e.g. sending from server to client commands for recording incoming content stream; Communication details between server and client 
    • H04N21/61—Network physical structure; Signal processing
    • H04N21/6156—Network physical structure; Signal processing specially adapted to the upstream path of the transmission network
    • H04N21/6175—Network physical structure; Signal processing specially adapted to the upstream path of the transmission network involving transmission via Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C2201/00—Transmission systems of control signals via wireless link
    • G08C2201/50—Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices
    • G08C2201/51—Remote controlling of devices based on replies, status thereof

Definitions

  • the present invention relates to an image display method based on fluctuation correction and a motion using the method.
  • the present invention relates to a moving object remote control system having a remote control function for remotely controlling the speed of a moving object such as an arm of a robot or an industrial robot.
  • a remote power camera device and a remote monitoring system device that can change an imaging region by remote control have been proposed.
  • a remote camera device for example, a remote camera device that can correct the control overshoot amount of the monitoring camera unit due to transmission delay or signal processing delay has been proposed (Japanese Patent Laid-Open No. 6-3880). No. 7).
  • a remote monitoring system device for example, the image displayed on the receiving side when the camera is operating is shifted and displayed so that it approaches the range that the force camera is currently capturing.
  • a monitoring system device has been proposed in which the display range is processed so that it does not appear that the image is delayed, and the delay caused by the remote operation of the force sensor cannot be felt (Japanese Patent Laid-Open No. 2000). 2— 1 8 5 9 5 6).
  • Patent Document 1 Japanese Patent Laid-Open No. 6-3 8 0 8 7
  • Patent Document 2 Japanese Patent Laid-Open No. 2 0 0 2-1 8 5 9 5 6 ⁇ Disclosure of Invention
  • the present invention has been made with the object of solving the above problems, such as a model car equipped with a camera installed in a remote place, a personal computer connected via a Internet from a moving body such as a robot arm, etc.
  • a model car equipped with a camera installed in a remote place a personal computer connected via a Internet from a moving body such as a robot arm, etc.
  • an image display method that can obtain unnatural images by performing fluctuation correction processing, and by using this method, accurate remote operation becomes possible.
  • the task is to provide a moving object remote control system.
  • the invention according to claim 1 for solving the above-mentioned problems is characterized in that the moving object is viewed while viewing the monitor display of an image from a camera mounted on the moving object such as a model car or a robot arm.
  • the monitor to the monitor to enable remote control In an operation machine that displays a received image, the received image is drawn on the monitor at a predetermined drawing timing interval, and the drawn image is delayed from the received image.
  • This is an image display method by fluctuation correction, characterized by being a processed predicted image.
  • the invention described in claim 2 is the image display method according to claim 1, wherein the predicted image subjected to the delay process is received from the system time at the time of the drawing at that time. This is a pseudo image after the estimated delay time after subtracting the time stamp added to. ⁇
  • the invention according to claim 3 is the image display method by fluctuation correction according to claim 1, wherein the delay prediction image is the received image, the delay prediction time, the moving speed of the moving object, a swing angle, and a battery voltage.
  • the image processing is based on sensor information such as values.
  • the image processing zooms the received image based on the sensor information and shifts it vertically, vertically, horizontally, or diagonally. It is characterized by that.
  • the invention according to claim 5 for solving the above-mentioned problem is a moving object remote equipped with an operation machine for remotely controlling the moving object based on image information from a moving object such as a model car or a mouth bot arm.
  • a control system
  • the operation machine is
  • Image drawing information receiving means for receiving image information and sensor information from a camera mounted on the moving body
  • Image expansion means for expanding image data in the received image drawing information
  • Image processing means for adding the decompressed image data based on the received sensor information
  • Operation input means for converting the operation input value input by the controller into control information for the moving object;
  • Control information transmitting means for transmitting the control information generated by the operation input means to the moving object,
  • the moving body is a member of the moving body.
  • An image compression means for adding the time of an internal clock as a time stamp to the image of the mounting force mera, and compressing the image as image information to be transmitted to the operation machine, and movement of the moving object from the speed sensor
  • Sensor one capturing means for capturing the speed and the battery voltage value from the battery as sensor information to be transmitted to the operation machine, and the operation using the image 'information and the sensor information as image drawing information.
  • Image drawing information transmitting means for transmitting to the machine, control information receiving means for receiving the control information from the operation machine, control processing means for controlling the servo and motor based on the received control information, and
  • This is a moving body remote control system characterized by comprising:
  • the image processing stage outputs the expanded image data based on the received sensor information. It is characterized in that it adjusts the timing to perform and the drawing area of the image to be displayed.
  • the invention according to claim 7 is the moving object remote control system according to claim 6, wherein the image processing means calculates the time of the time dump stored in the expanded image data as the current system time.
  • the drawing delay time subtracted from the image is calculated, the image enlargement ratio is calculated from the drawing delay time and the moving speed of the moving object, and the image shift in the up / down, left / right or diagonal direction from the drawing delay time and the shake position is calculated.
  • An amount is calculated, and the drawing area is designated from the image enlargement ratio and the image shift amount.
  • the invention according to claim 8 is the moving object remote control system according to claim 5, wherein the sensor information includes a speed value from a speed sensor mounted on the moving object and a voltage value of a battery. It is characterized by inclusion.
  • the invention's effect is the following:
  • the predicted images (pseudo images) obtained by image processing from the received images are displayed at regular intervals, and thus fluctuations are eliminated.
  • a moving body such as a model car equipped with a camera installed in a mobile phone or a personal computer connected via the Internet from a moving body such as a mouth bot arm
  • this fluctuation correction process makes it unnatural. This makes it possible to obtain accurate remote control.
  • FIG. 1 shows an overall configuration of a moving object remote control system according to the present invention, which is composed of a model car 1 and an operation machine 2.
  • This system consists of a model car 1 that is a moving body equipped with a camera, an operation machine 2 with a motor of an operator who operates the model car 1 at a distance from the model car 1, an internet 4 and so on. And communication means.
  • FIG. 2 is a block diagram showing the configuration of the model automobile 1 in the present embodiment.
  • the model car 1 in this embodiment is connected to a wireless LAN, and has the function of generating sensor information from the sensors in the model car 1 and the image information for adding a time stamp value to the camera capture image.
  • a transmission information processing function such as a generation function
  • it also has a control function that performs predetermined processing on the servo and drive motor.
  • a camera 5 for realizing the image information generation function a vehicle speed sensor 6 for realizing the sensor information generation function, a battery 7,
  • the servo 8 and the drive motors 9 and 9a for realizing the control function, the gearboxes 10 and 10a, and the in-vehicle computer 11 that functions as various function processing means are provided.
  • the in-vehicle computer 1 1 is a CPU that controls each device and calculates data.
  • the CPU that performs processing, the contents once written cannot be erased, but the contents are not lost even when the power is turned off.
  • F-ROM Read Only Memory
  • RAM Random Access Memory
  • Internal clock 1 3 video capture section 1 2, image compression section, sensor input section 16, motor control section 15, wireless LAN communication section 14.
  • the in-vehicle computer 11 is connected with a camera 5, a vehicle speed sensor 6, a battery 7, a servo 8, and drive motors 9 and 9a (see Figs. 2 and 3), Fig. 4 As shown in the figure, the information sent to the operation machine 2 is processed and the information received from the operation machine 2 is processed.
  • Processing of information sent to the operation machine 2 includes image compression processing that compresses the image by adding the time stamp value of the internal clock 1 3 to the image from the video capture part 1 2, and the vehicle speed sensor 6. Therefore, there is a sensor acquisition process that acquires the vehicle speed and battery voltage value obtained as sensor information.
  • the information received from the operation machine 2 is processed by a motor control process, and the servo 8 and the drive motors 9 and 9a are controlled according to the received control information.
  • the operation machine 2 of the present embodiment displays a predetermined drawing area of the video of the in-vehicle power camera 5 on the monitor. And to model car 1
  • the image display method displays the received image of the monitor for enabling the moving object to be remotely controlled while observing a monitor display of the image from the camera of the moving object such as a model car received via a network.
  • the drawing of the received image on the monitor is performed at a predetermined drawing timing interval, and the drawn image is a predicted image obtained by delaying the received image.
  • the predicted image subjected to the delay process is a pseudo image after the delay predicted time has elapsed, which is obtained by subtracting the time stamp added to the image information received at that time from the system time at the time of the drawing.
  • the delay prediction image is obtained by subjecting the received image to image processing based on sensor information such as the delay prediction time, vehicle speed, steering angle (swing angle), battery voltage value, and the like.
  • the received image is zoomed and / or shifted left and right based on sensor information.
  • S a, S b, S c, S d, Se in the stage of the sending image indicate the imaging time when the image is captured from the camera
  • c, S d, and Se indicate time stamps in which image information is added to the image information at the time of image capture from force force
  • Ta, T b, T c at the stage of drawing the received image , Td, Te indicate the drawing timing time.
  • delayed prediction images are drawn at equal intervals, so that there is no variation in drawing timing, in other words, there is no fluctuation and a smooth video can be obtained.
  • the estimated delay time t is a time T 1 S obtained by subtracting the time stamp S added to the image information received at that time from the drawing timing time.
  • FIG. 6 to 8 explain the drawing function of the delayed prediction image of the operation machine 2.
  • the operation machine 2 has a function of transferring the range to the video memory by designating a drawing area on the received image. This function makes it possible to display any area of the received image.
  • Fig. 7 explains the change in the drawing area when the model car 1 goes straight, which is used to monitor the operation machine 2 when the model car 1 goes straight from point A to point B.
  • the change in the displayed area is shown.
  • the zoom amount in this case is calculated from the vehicle speed, which is sensor information.
  • Fig. 8 explains the change in the drawing area of model car 1 when it turns right, where model car 1 moves from point A to point B to make a right curve.
  • the change of the area displayed on the monitor of Operation Machine 2 is shown.
  • the zoom amount and shift amount in this case are calculated from the vehicle speed and the steering angle, which are sensor information.
  • the sensor information is used to generate a predicted delay image when the predicted delay time of the received image has elapsed, and this is drawn at the drawing timing time. Fluctuations are corrected, and real-time videos without unnaturalness can be obtained.
  • the flowchart of FIG. 9 the flow of a series of processing by the operation of the model car 1, the operation machine 2, and the operator of the system according to the present invention adopting the image display method described above is simply described. explain.
  • the model car 1 the camera image is time-stamped by the internal clock 13 and image-compressed, and this image information is used as the first data to be transmitted to the operation machine 2.
  • the vehicle speed value obtained by the vehicle speed sensor 6 and the battery voltage value are captured by the sensor capture process, and are used as sensor information.
  • 'It is the second data sent to the machine 2.
  • the image information generated by the image compression process and the sensor information generated by the sensor one capture process are transmitted by the communication process as information transmitted to the operation machine 2.
  • the operation machine 2 receives this information through communication processing, and passes the image information to the image expansion processing and the sensor information to the image processing processing.
  • the image expansion process the image data in the image information box is expanded and transferred to the image processing process.
  • image processing an image to be drawn on the motor is generated from the decompressed image data, time stamp, and sensor information and output to the monitor.
  • the operator operates the game controller while viewing the video from the camera displayed on the monitor.
  • the control information input by the operation of the game controller is transmitted to the model car 1 through communication processing.
  • the model car 1 controls the servo 6 and the drive motors 7 and 7 a based on the received control information. To do.
  • the wireless LAN communication unit 14 (see FIG. 3) of the in-vehicle computer 11 1 is waiting to receive the system connection information from the operation machine 2 during normal times (S 1 0 1).
  • connection response information is sent to the source operation machine 2 and the system status is switched to connected (S 1 0 4, S 1 0 5), and the internal clock 1 3 is connected to the system.
  • S 1 0 4 connection response information
  • S 1 0 5 system status is switched to connected
  • S 1 0 5 system status is switched to connected
  • the internal clock 1 3 is connected to the system.
  • the image compression processing of the in-vehicle computer 11 will be described with reference to the flowchart of FIG.
  • the in-vehicle computer 1 1 determines whether or not it is connected to the operation machine 2 on the system during normal times (S 2 0 1), and if it is connected, starts the video capture (S 2 0 2 )
  • the captured image is compressed (S 2 0 3), and the time stamp generated from the internal clock 13 is added to create image information (S 2 0 4, S 2 0 5), and wireless LAN communication Passed to processing (S 2 0 6).
  • the motor control unit 15 is on standby in preparation for receiving control information from the operation machine 2 during normal times (S 3 0 1).
  • control information is received, according to the drive motor value and servo position information included in the control information, Outputs to control the drive motors 9, 9a and servo 8 (S3 02, S3 03).
  • the sensor input unit 16 When the sensor input unit 16 receives a processing start command by the motor control processing of the motor control unit 15 (S 4 0 1), it captures the vehicle speed and the battery 7 voltage from the vehicle speed sensor 6 respectively. (S 4 0 2, S 4 0 3), create sensor information based on them (S 4 0 4), and send the sensor information to the operation machine 2 to send the sensor information to the wireless LAN communication unit 1 Deliver (S 4 0 5).
  • the internal clock timing processing of the in-vehicle computer 11 will be described with reference to the flowchart of FIG.
  • the time difference between the system time of the internal clock 1 3 and the operation machine 2 is calculated from the control information transmission time and communication delay time, and the timing time is calculated (S5 0 1 to S 5 0 3 )
  • the timing is set to 1/20 of the time difference and absorbs sudden changes. This process is performed when operation machine 2 is connected to the system.
  • the internal clock 1 3 will not be reset, but if it is 1 ms or more, the internal clock 1 3 will be adjusted by adding the timing to the internal clock 1 3 time. Set again (S5 0 4, S 5 0 5).
  • the operation machine 2 is a personal computer in which a program for remotely operating the model car 1 is stored. An operator can operate the operation machine 2 to remotely control the model car 1.
  • processing performed by the operation machine 2 is roughly divided into processing based on data transmitted from the model car 1 and processing based on input from the game controller 3 by the operator. Is done.
  • Processing based on the data sent from model car 1 consists of image expansion processing that expands image information received by wireless LAN communication processing, and images that are expanded by image expansion processing are monitored based on the received sensor information. This is an image processing process for generating a video signal to be projected on the screen.
  • the processing based on the input from the game controller 3 by the operator is shown as the operation input processing.
  • the control information processed here is a model car by wireless LAN communication processing. Sent to.
  • the wireless LAN communication processing of the operation machine 2 according to the present invention is illustrated in FIG.
  • connection with model car 1 If the connection with model car 1 is not maintained, it is determined whether or not the specified time has elapsed since the transmission of the system connection information sent at the previous connection (S 6 0 2). If it is, the system connection information is transmitted again (S 6 0 3).
  • connection response information from the model car 1 is received (S 6 0 4), it is determined from the response code whether the connection is normal (S 6 0 5), and if the connection is normal, Switch the system status to connected (S 6 0 6).
  • the communication delay time is calculated from the current time and communication time (S 6 1 1), and the sensor information is transferred to the image processing process ( S 6 1 2), reset the communication monitoring timer (S 6 1 3).
  • the image expansion processing of the operation machine 2 according to the present invention will be described with reference to the flowchart shown in FIG.
  • the image expansion process of the operation machine 2 it is waiting in preparation for the reception of image information from the model car 1 during normal times (S 7 0 1).
  • the time stamp included in the image information is stored (S700)
  • the image data is expanded, and one frame of image is transferred to the image processing process (S700).
  • the image processing of the operation machine 2 according to the present invention will be described with reference to the flowchart of FIG.
  • a drawing area is designated from the calculated image enlargement ratio and image left / right shift amount (S 8 06) and transferred to the video memory (S 8 0 7).
  • the speed meter and the remaining battery capacity are overwritten (S 8 08).
  • the system control cycle is set to 50 ms, and it is monitored whether or not the input from the game controller 3 is input at a fixed cycle of 50 ms (S 9 0 1). And if there is an input with a fixed period of 50 ms from the game controller 3 forces, the steering value, accelerator 'blur Take the key pedal value (S9002). Then, the steered steering value is used as the steering position, the accelerator / brake pedal value is converted as the drive motor value, and this is used as the control value for transmission to model car 1 (. S 9 0 3).
  • control information is obtained from the current control value. Create and transfer to the wireless LAN communication process (S900) If there is a change in the converted control value, create control information from the control value and transfer it to the wireless LAN communication process (S9 0 6).
  • the communication data in the present invention is summarized as shown in FIG.
  • the system connection information transmitted when the operation machine 2 is connected to the system is composed of the authentication code and the system time.
  • the authentication code is the code for operation machine 2 to connect to the system
  • the system time is the time of operation machine 2
  • a model automobile has been described as a moving object.
  • the moving object to be controlled by the method according to the present invention is not limited to this, and a model airplane, a model boat ', a robot, It goes without saying that industrial robot arms, industrial equipment and other various moving objects are included.
  • the swing angle is the steering angle in the left-right direction.
  • the swing direction may be in the up-down direction or the diagonal direction.
  • the received image may be shifted vertically or diagonally.
  • FIG. 1 shows a system configuration diagram of a model car remote control system using an operation machine according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing a configuration of a model automobile in one embodiment of the present invention.
  • Fig. 3 is a block diagram of the in-vehicle computer.
  • Fig. 4 is a block diagram showing the processing of the in-vehicle computer.
  • FIG. 5 is a diagram for explaining fluctuation correction.
  • Fig. 6 is a diagram for explaining the drawing function of the operation machine.
  • Fig. 7 is a diagram showing the change of the drawing work when the model car goes straight.
  • Fig. 8 is a diagram showing the change in the drawing work when the model car is on the right curve.
  • Figure 9 Flow chart of a series of processing by hardware and operator.
  • Figure 10 is a flowchart of communication processing on the model car side.
  • FIG. 11 is a flowchart of image compression processing.
  • Fig. 1 Flow chart of 2 “Motor operation” process and sensor input process.
  • Figure 1 Flow chart of internal clock timing processing.
  • Fig. 14 is a block diagram showing the processing of the 4 operation machine.
  • Figure 15 Flowchart of communication processing on the operation machine side.
  • Figure 17 is a flowchart of image processing.
  • Figure 1 8 Flow chart of operation input processing.
  • Fig. 19 is a block diagram of communication data for a remote control system for a model car.
  • FIG. 20 is a diagram for explaining fluctuations in communication.
  • Figure 21 is a diagram for explaining the effect of frame fluctuation on the frame drawing timing.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Selective Calling Equipment (AREA)
  • Toys (AREA)

Abstract

Un procédé d'affichage d'image et un système de commande à distance d'objet mobile utilisant ledit procédé afin de permettre une commande à distance précise sont fournis afin d'effectuer le traitement d'une correction de fluctuation en vue d'obtenir une image vidéo sans que la transmission d'images animées soit non naturelle sur un ordinateur personnel ou similaire connecté à l'objet mobile au moyen d'Internet, l'objet mobile dans lequel une caméra est installée étant un véhicule, un bras de robot ou similaire défini dans un emplacement distant. Dans une machine opérationnelle qui effectue l'affichage d'une image de réception sur un moniteur afin de permettre le commande à distance de l'objet mobile tout en observant au niveau de l'affichage du moniteur, l'image provenant de la caméra installée dans l'objet mobile au moyen d'un réseau, le traçage d'une représentation de l'image reçue sur le moniteur est réalisé à un intervalle de temps de traçage prescrit et la représentation tracée est une image estimée produite par traitement de retard de l'image reçue.
PCT/JP2006/316123 2006-08-10 2006-08-10 Procédé d'affichage d'image corrigée en fluctuation et système de commande à distance d'objet mobile utilisant le procédé WO2008018156A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2006/316123 WO2008018156A1 (fr) 2006-08-10 2006-08-10 Procédé d'affichage d'image corrigée en fluctuation et système de commande à distance d'objet mobile utilisant le procédé
JP2008528709A JP5140889B2 (ja) 2006-08-10 2006-08-10 ゆらぎ補正による画像表示方法及びその方法を用いた動体リモートコントロールシステム

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Application Number Priority Date Filing Date Title
PCT/JP2006/316123 WO2008018156A1 (fr) 2006-08-10 2006-08-10 Procédé d'affichage d'image corrigée en fluctuation et système de commande à distance d'objet mobile utilisant le procédé

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
KR101790059B1 (ko) * 2009-02-05 2017-10-26 엘비트 시스템스 엘티디. 지연되는 통신 링크를 통하여 영상 처리 장치를 제어하는 방법
US11048465B2 (en) 2018-09-18 2021-06-29 Canon Kabushiki Kaisha Imaging display device, wearable device, and imaging display system

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