Stereoscopic Image Visualization for Telerobotics. Experiments with Active Binocular Cameras

Stereoscopic human interfaces

“…In [12], the authors demonstrate the usefulness of exploiting single 3-D stereoscopic visualization by using multiple monoscopic visual feedback in real-time teleoperation. Other experiments have also highlighted that the execution time for telemanipulation tasks is reduced by using stereoscopic images [13]. Studies performed by Cole et al [14], [15] clearly suggest the superiority of stereoscopic viewing as opposed to monoscopic images in structure-assembly tasks consisting of a manipulator arm and nodes with structures inserted in node joints.…”

“…The best solution is to use an automatic binocular camera vergence system. In [13], an automatic vergence system that controls a camera axis angle is tested. The goal of the vergence controller is to fix the intersection of the camera axes in the object shown in the center of the images.…”

Virtual Reality to Simulate Visual Tasks for Robotic Systems

“…It is worth noting that, for specific application fields, the toe-in technique is also used for the perceptual rendering of the stereo image pair to a human observer. In the field of the telerobotic applications (Ferre et al, 2008;Bernardino et al, 2007), it is important to perceive veridical distances in the remote environment, and the toe-in technique allows choosing where the stereo images are properly fused and the optimal remote working area. However, the parallel axes configuration is again effective when a large workspace is necessary, e.g.…”