Research of interactive partial modeling technology for unstructured environments robot teleoperation

Dongjie Li; Bo You

doi:10.1117/12.751030

14 November 2007 Research of interactive partial modeling technology for unstructured environments robot teleoperation

Dongjie Li, Bo You

Proceedings Volume 6790, MIPPR 2007: Remote Sensing and GIS Data Processing and Applications; and Innovative Multispectral Technology and Applications; 679057 (2007) https://doi.org/10.1117/12.751030
Event: International Symposium on Multispectral Image Processing and Pattern Recognition, 2007, Wuhan, China

Abstract

The environment geometry model based-VR teleoperation systems couldn't adapt to the unpredicted, dynamic changing and unstructured environment any more for the development space of mankind is expanding continuously, in which many circumstances are uncertain. The Interactive Partial Modeling (IPM) technique was developed to solve this problem. The establishing of IPM system for the unstructured environment includes three parts: the image information obtaining subsystem of the reality worksite, the designing of 3D virtual manipulation subsystem and the registration between virtual object and real scene. The feedback of the image information is realized through stereo-video and the virtual model of the telerobot is developed with OpenGL. The position and pose of the virtual graphic can be set in the stereo-video with the telerobot as the calibration object. So manipulation of virtual unstructured environments and the real scene with 3D image can be realized, which has expanded the application of robotic teleoperation.

Citation Download Citation

Dongjie Li and Bo You "Research of interactive partial modeling technology for unstructured environments robot teleoperation", Proc. SPIE 6790, MIPPR 2007: Remote Sensing and GIS Data Processing and Applications; and Innovative Multispectral Technology and Applications, 679057 (14 November 2007); https://doi.org/10.1117/12.751030

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available