Abstract: A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle comprises: receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image; applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image; combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and displaying the 3D map display on an operator control unit used to control the remote vehicle.

Abstract: A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle comprises: receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image; applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image; combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and displaying the 3D map display on an operator control unit used to control the remote vehicle.

Abstract: A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle comprises: receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image; applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image; combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and displaying the 3D map display on an operator control unit used to control the remote vehicle.

Abstract: A system for controlling more than one remote vehicle. The system comprises an operator control unit allowing an operator to receive information from the remote vehicles and send commands to the remote vehicles via a touch-screen interface, the remote vehicles being capable of performing autonomous behaviors using information received from at least one sensor on each remote vehicle. The operator control unit sends commands to the remote vehicles to perform autonomous behaviors in a cooperative effort, such that high-level mission commands entered by the operator cause the remote vehicles to perform more than one autonomous behavior sequentially or concurrently. The system may perform a method for generating obstacle detection information from image data received from one of a time-of-flight sensor and a stereo vision camera sensor.

Abstract: A method for improving situational awareness for teleoperation of a remote vehicle by creating a 3D map display of an area around the remote vehicle comprises: receiving an original image from a stereo vision camera and utilizing the original image to perform visual odometry to determine the x, y, z, roll, pitch, and yaw for the original image; applying a fill-in algorithm to the original image to fill in an estimated depth for areas of the original image for which no depth data is available, which creates an enhanced depth image; combining the enhanced depth image with the x, y, z, roll, pitch, and yaw for the original image to create the 3D map display of the area around the remote vehicle; and displaying the 3D map display on an operator control unit used to control the remote vehicle.

Abstract: A system for controlling a remote vehicle comprises: a LIDAR sensor, a stereo vision camera, and a UWB radar sensor; a sensory processor configured to process data from one or more of the LIDAR sensor, the stereo vision camera, and the UWB radar sensor; and a remote vehicle primary processor configured to receive data from the sensory processor and utilize the data to perform an obstacle avoidance behavior.