Photo-realistic scene prediction of partially unknown environments for the compensation of time delays in telepresence applications

Barth, Mareike; Burkert, Tim; Eberst, Christof; Stöffler, Norbert O.; Färber, Georg

doi:10.1109/robot.2000.845145

Cited by 14 publications

(9 citation statements)

References 12 publications

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“…For other systems that deal with noticeable time delays, the concept of predictive displays where visual feedback is generated based on a scene model has been (Barth, Burkert, Eberst, Stöffler, & Färber, 2000;Kim & Bejczy, 1993). Today such simulation-based techniques that use a virtual environment are a common practice in academia as well as in compensating for communication delay in space telerobotics.…”

Section: Hiding Time Delay Of Automatic Detection Algorithmsmentioning

confidence: 99%

Design considerations of robotic system for cleaning and inspection of large‐diameter sewers

Walter

Saenz

Elkmann

et al. 2011

Journal of Field Robotics

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On behalf of the Emschergenossenschaft, a public wastewater utility based in Essen, Germany, the Fraunhofer Institute for Factory Operation and Automation (IFF) in Magdeburg has developed a novel robotic system, the damage measuring and cleaning system (SVM-RS), for cleaning and inspecting large-diameter sewers that are partially filled and in normal operation. The SVM-RS was specifically designed and built for use in the Emscher sewer system and employs a multisensor approach for a high-resolution inspection of the pipe, both above and below the water. Furthermore, robotics technologies are used in combination with traditional high-pressure cleaning techniques to achieve high-quality cleaning results. In addition to the hardware design, a number of software developments in the areas of software architecture, image processing, and data fusion for understanding and presenting the data, as well as teleoperation techniques, have been carried out in the course of the project. Here automatic detection of damage as well as other features present in the environment has proven to be of importance. Design considerations and solutions for individual components of the cleaning and inspection are described within the context of the whole system, and the results of specific tests and experiments are presented

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Section: Hiding Time Delay Of Automatic Detection Algorithmsmentioning

confidence: 99%

Design considerations of robotic system for cleaning and inspection of large‐diameter sewers

Walter

Saenz

Elkmann

et al. 2011

Journal of Field Robotics

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“…However, this is impractical in unstructured environments often encountered in mobile robotics. A better method to align the predicted display is to register the remote camera image with the model [2]. In our approach the model is obtained once through automatic sensing as described above, then a single camera image is used to align the current view location with the model to support both localization and predictive display.…”

Section: Introductionmentioning

confidence: 99%

A Panoramic Model for Remote Robot Environment Mapping and Predictive Display

Cobzaş¹,

Jägersand²,

Hong³

2005

International Journal of Robotics and Automation

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Robot tele-operation is significantly degraded by delays in the operator visual feedback. We present a cylindrical image-depth model that can be automatically acquired at the remote work site and then used to support both robot localization and predictive display. We present an implementation for a mobile robotics system where synthesized immediate visual feedback replaces the delayed real images. Experimentally we found that a predicted view could be rendered with an geometric viewpoint error of no more than 2.4cm/1.2 degrees in a 100m 2 work scene.

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“…remote exploration, emergency response, waste cleanup, space robotics). In a recent system, predictive display for a mobile robot is provided by geometrically warping the delayed video using a computer vision line-based model [1]. While a mobile robot is typically controlled using 2 dimensional steering and 000 111 00 00 11 11 velocity commands we develop vision-controlled robot arm and dexterous hand based tele-robotic systems [9], where the control space is from 6 to 20 dimensional, see Fig.…”

Section: Introductionmentioning

confidence: 99%

“…We show how to merge previous work in geometry-based scene modeling [1], [15], [3], with image-based methods which generalize view-based textures from a discrete set of example textures to a continuous dynamic texture synthesis [2]. We derive a new formulation of residual intensity variation capturing discrepancies between between the geometric model and the real scene and use this to compute the dynamic texture basis.…”

Section: Introductionmentioning

confidence: 99%

Predictive display models for tele-manipulation from uncalibrated camera-capture of scene geometry and appearance

Yerex

Cobzaş

Jägersand

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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Abstract-In tele-robotics delayed visual feedback to the human operator can degrade task performance significantly. To improve this, predictive display, uses a scene model to estimate and render immediate visual feedback based on the operator's control commands. Traditional predictive display involves the calibration and overlay of an a-priori model with the delayed real video feedback. In this paper we present an image-based method where the scene geometry and appearance is captured using structure-frommotion by an uncalibrated eye-in-hand camera mounted on the remote robot. The model is then compressed and transmitted to the operator site, where it is used to generate immediate feedback in response to the operators movements. Calibration problems are avoided since the model is captured by the same scene camera as is being simulated in the predictive display. We show experiments where we capture the appearance of a robot hand and transmit it over the network to the operator site where the model renders scene appearance change in response to operator viewpoint motion.

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Photo-realistic scene prediction of partially unknown environments for the compensation of time delays in telepresence applications

Cited by 14 publications

References 12 publications

Design considerations of robotic system for cleaning and inspection of large‐diameter sewers

Design considerations of robotic system for cleaning and inspection of large‐diameter sewers

A Panoramic Model for Remote Robot Environment Mapping and Predictive Display

Predictive display models for tele-manipulation from uncalibrated camera-capture of scene geometry and appearance

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