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Proceedings Paper

Telerobotic virtual control system
Author(s): Shumin Zhai; Paul Milgram
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Paper Abstract

A project to develop a telerobotic `virtual control' capability, currently underway at the University of Toronto, is described. The project centers on a new mode of interactive telerobotic control based on the technology of combining computer generated stereographic images with remotely transmitted stereoscopic video images. A virtual measurement technique, in conjunction with a basic level of digital image processing, comprising zooming, parallax adjustment, edge enhancement, and edge detection has been developed to assist the human operator in visualization of the remote environment and in spatial reasoning. The aim is to maintain target recognition, tactical planning, and high-level control functions in the hands of the human operator with the computer performing low-level computation and control. Control commands initiated by the operator are implemented through manipulation of a virtual image of the robot system, merged with a live video image of the remote scene. This paper discusses the philosophy and objectives of the project, with emphasis on the underlying human factor considerations in the design, and reports the progress made to date in this effort.

Paper Details

Date Published: 1 March 1992
PDF: 12 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56768
Show Author Affiliations
Shumin Zhai, Univ. of Toronto (Canada)
Paul Milgram, Univ. of Toronto (Canada)

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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