Stereoscopic video images for telerobotic applications

Abstract

This article addresses the use of stereoscopic images in teleoperated tasks. Depth perception is a key point in the ability to skillfully manipulate in remote environments. Displaying three‐dimensional images is a complex process but it is possible to design a teleoperation interface that displays stereoscopic images to assist in manipulation tasks. The appropriate interface for image viewing must be chosen and the stereoscopic video cameras must be calibrated so that the image disparity is natural for the observer. Attention is given to the calculation of stereoscopic image disparity, and suggestions are made as to the limits within which adequate stereoscopic image perception takes place. The authors have designed equipment for image visualization in teleoperated systems. These devices are described and their performance evaluated. Finally, an architecture for the transmission of stereoscopic video images via network is proposed, which in the future will substitute for current image processing devices. © 2005 Wiley Periodicals, Inc.

Research on novel control techniques for robot teleoperation in unstructured environments

“…Stereoscopic video on its own does not solve all of the problems associated with remote viewing [9] . In the IPMTC system, the HO's task in judging clearances, task planning, performing remote inspection tasks, etc.…”

Neural-Learning-Based Telerobot Control With Guaranteed Performance

“…In comparison to the fully automatic robot manipulators used to perform routine task under static and structured environment, telerobots could work in dynamic and unstructured environments to perform more diverse tasks. A stereoscopic images processingbased teleoperated system is proposed in [1], where the stereoscopic images are displayed to the operator to provide assistance in manipulative tasks. In [2], an environment to synthesize the Internet-based teleoperation systems is studied, and the identified delay parameters of an Internet segment are exploited to design a stable controller.…”

Stereoscopic human interfaces

“…Experiments by Howard and Rogers [2] set limits of 4-7°for crossed disparity and 9-12°for uncrossed disparity. According to other works on telerobotic applications [1], limits can be fixed at 2°for crossed and uncrossed disparities. If image disparity is within these limits, then spatial perception will be properly achieved by the user.…”

“…Topics concerning human visual perception, binocular image capturing, and stereoscopic devices are described. There is a wide variety of video interfaces for telerobotic systems [1]. Choosing the best video interface depends on the telerobotic application requirements.…”