In the midst of disaster, such as an earthquake or a nuclear radiation exposure area, there are huge risks to send human crews. Many robotic researchers have studied to send UGVs in order to replace human crews at dangerous environments. So far, two-dimensional camera information has been widely used for teleoperation of UGVs. Recently, three-dimensional information based teleoperations are attempted to compensate the limitations of camera information based teleoperation. In this paper, the 3D map information of indoor and outdoor environments reconstructed in real-time is utilized in the UGV teleoperation. Further, we apply the LTE communication technology to endure the stability of the teleoperation even under the deteriorate environment. The proposed teleoperation system is performed at explosive disposal missions and their feasibilities could be verified through completion of that missions using the UGV with the Explosive Ordnance Disposal (EOD) team of Busan Port Security Corporation.

Abstract
 1. 서 론
 2. 관련 연구
  2.1 UGV 원격제어를 위한 환경인식 기술
  2.2 제안하는 방법
 3. 원격제어를 위한 3차원 정보 융합
  3.1 정적 점군 데이터의 재구성
  3.2 동적 점군 데이터의 재구성
  3.3 무인 지상 로봇의 시각화
  3.4 3차원 정보의 융합
 4. 실험 결과
  4.1 실험 환경
  4.2 시나리오 수행 - 탁송화물 검사장내 폭발물 신고접수 상황
  4.3 임무 수행 결과
 5. 결 론
 References

• 장가람(KITECH) | Ga-Ram Jang
• 배지훈(KITECH) | Ji-Hun Bae
• 이동혁(KITECH) | Dong-Hyuk Lee
• 박재한(Robotics R&D Group, KITECH) | Jae-Han Park Corresponding author