This paper describes a visual tool for teleoperative experimentation involving remote manipulation and contact tasks. Using modest hardware, it recovers in real-time the pose of moving polyhedral objects, and presents a synthetic view of the scene to the teleoperator using any chosen viewpoint and viewing direction. The method of line tracking introduced by Harris is extended to multiple calibrated cameras, and afforced by robust methods and iterative filtering. Experiments are reported which determine the static and dynamic performance of the vision system, and its use in teleoperation is illustrated in two experiments, a peg in hole manipulation task and an impact control task.

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