Optimal 3D viewing with adaptive stereo displays for advanced telemanipulation

Lee, Seungro; Lakshmanan, Sridhar; Ro, Sookwang; Park, J.-O.; Lee, C.-W.

doi:10.1109/iros.1996.568944

Cited by 5 publications

(2 citation statements)

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“…To view the robot scene, the operator uses eyes shuttering glasses to see the robot scene in 3D from the client station. The generation of stereo views [4,5] based on display of left and right images of the robot which produces the stereo illusion after proper synchronization.…”

Section: Introductionmentioning

confidence: 99%

A 3-D Vision-Based Man–Machine Interface For Hand-Controlled Telerobot

Al-Mouhamed

Toker

Alharthy

2005

IEEE Trans. Ind. Electron.

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This paper presents a robust telerobotic system that consists of a real-time vision-based operator hand tracking system (client) and a slave robot (server) which are interconnected through a LAN. The tracking system (1) monitors the operator hand motion and (2) determines its position and orientation which are used to control the slave robot. Two digital cameras are used to monitor a four-ball based feature frame that is held by the operator hand. To determine the 3D position a tracking algorithm based on uncalibrated cameras with weak perspective projection model is used. This allows finding 3D differential position and orientation of operator hand. The features of proposed system are (1) a metric for color matching to discriminate the balls from their background, (2) a uniform and spiral search approach to speedup the detection, (3) tracking in the presence of partial occlusion, (4) consolidate detection by using shape and geometric matching, and (5) dynamic update of the reference colors. The operator can see the effects of the previous motion which enables making the necessary corrections through repetitive operator hand-eye interactions. Evaluation shows that the static and dynamic errors of tracking algorithm are 0.1% and 0.6% for a centered workspace of 20 3 inches 3 that is 40 to 60 inches away from cameras. Running the tracking algorithm on two PCs in parallel allowed (1) a parallel image grabbing delay of 60 ms, (2) a stereo matching delay of 50 ms, and (3) a global refresh rate of 9Hz.

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Section: Introductionmentioning

confidence: 99%

A 3-D Vision-Based Man–Machine Interface For Hand-Controlled Telerobot

Al-Mouhamed

Toker

Alharthy

2005

IEEE Trans. Ind. Electron.

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“…Parallel camera configurations [7] accurately capture 3D depth in objects at low computational costs but with limited perception in near stereoscopic viewing. Tilted camera configurations [8] are more accurate in the horizontal than in the vertical direction compared parallel cameras.…”

Section: Introductionmentioning

confidence: 99%

A Distributed Framework for Relaying Stereo Vision for Telerobotics

Al-Mouhamed¹,

Toker²,

Iqbal³

et al.

The IEEE/ACS International Conference on Pervasive Services

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Stereo vision is one critical tool in minimally invasive surgery (MIS) for enhancing perception of depth of organs which greatly improves the operation efficiency. Augmented stereo views results from superimposing 3D anatomical models with real organ views. A reliable distributed framework for relaying stereoscopic visual feedbacks between a telerobotic server and a client station is proposed. The distributed components are based on DirectX, Visual C#, and Window sockets. We used a multi-threaded execution to promote concurrency in grabbing, transmitting, receiving, processing, and displaying image data using head-mounted display (HMD) technology. The client station provides components that support augmented reality (AR), i.e. superimposing animated graphic model with real views from the operating site. Design and performance issues of proposed multi-threaded execution for streaming of stereo data in a distributed and modular framework is presented.

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