NDLI: Machine vision augmented displays for teleoperation

Content Provider	IEEE Xplore Digital Library
Author	Spofford, J.R. Garcia, K.D. Gatrell, L.B.
Copyright Year	1991
Description	Author affiliation: Martin Marietta Astron. Group, Denver, CO, USA (Spofford, J.R.; Garcia, K.D.; Gatrell, L.B.)
Abstract	The authors describe a machine vision-based aid for teleoperation that provides the operator with information not available or readily apparent on the camera views. This aid is intended to allow the operator to perform a task effectively and efficiently where communication bandwidth may be limited. All 6 degrees of freedom of the object's pose can be computed from a single view by a monocular camera, which may be mounted at any known orientation relative to the manipulator tool tip. The pose of the object is then communicated to a graphic display system that creates an overlay on the operator's live video display. The operator can thus teleoperate the robot guided by the computed pose information. No a priori knowledge of the location of the manipulator or target object is required, other than visibility from a camera. An overview of the facilities used to implement this operator aid and apply it to simulations of space servicing operations is provided.
Starting Page	19
Ending Page	23
File Size	398433
Page Count	5
File Format	PDF
ISBN	0780302338
DOI	10.1109/ICSMC.1991.169654
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1991-10-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Machine vision Displays Cameras Space shuttles Orbital robotics Bandwidth Degradation Robotic assembly Humans Robot vision systems
Content Type	Text
Resource Type	Article

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