Due to the processing time and the network communication time, there is a position gap between the robot at the time of performing the control and the robot at the time of capturing the image with the CCD camera, since the robot moves. The processing time includes clustering, 3D reconstruction, etc.
Therefore, it is necessary to estimate the robot's position and posture at the time at which the control is performed.
A mobile robot controller exists in the DIND side, and the modified velocity
input signal to the mobile robot is determined before the network communication.
10/06/2005