The Direct3D RMS, which is capable of viewing the robot and
environment using three-dimensional shapes, was used for the
Scoutrobot. A three-dimensional projection was included to provide
a perspective view. This system provides users with a sense
of realism, as if they were navigating with the robot in real time
and recognizing the information detected by the robot’s sensors,
such as position, obstacle appearance, and route condition. The
communication and vision programs were integrated so that all
program segments could be incorporated into one program. The
integrated program is illustrated in Fig. 13. All sub-functions are
represented by sub-windows, enabling the program to generate
various perspective views.