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Proceedings Paper

Research of interactive partial modeling technology for unstructured environments robot teleoperation
Author(s): Dongjie Li; Bo You
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Paper 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.

Paper Details

Date Published: 14 November 2007
PDF: 7 pages
Proc. SPIE 6790, MIPPR 2007: Remote Sensing and GIS Data Processing and Applications; and Innovative Multispectral Technology and Applications, 679057 (14 November 2007); doi: 10.1117/12.751030
Show Author Affiliations
Dongjie Li, Harbin Univ. of Science and Technology (China)
Bo You, Harbin Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 6790:
MIPPR 2007: Remote Sensing and GIS Data Processing and Applications; and Innovative Multispectral Technology and Applications

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