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Proceedings Paper

Intelligent viewing control for robotic and automation systems
Author(s): Paul S. Schenker; Stephen F. Peters; Eric D. Paljug; Won Soo Kim
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Paper Abstract

We present a new system for supervisory automated control of multiple remote cameras. Our primary purpose in developing this system has been to provide capability for knowledge- based, `hands-off' viewing during execution of teleoperation/telerobotic tasks. The reported technology has broader applicability to remote surveillance, telescience observation, automated manufacturing workcells, etc. We refer to this new capability as `Intelligent Viewing Control (IVC),' distinguishing it from a simple programmed camera motion control. In the IVC system, camera viewing assignment, sequencing, positioning, panning, and parameter adjustment (zoom, focus, aperture, etc.) are invoked and interactively executed by real-time by a knowledge-based controller, drawing on a priori known task models and constraints, including operator preferences. This multi-camera control is integrated with a real-time, high-fidelity 3D graphics simulation, which is correctly calibrated in perspective to the actual cameras and their platform kinematics (translation/pan-tilt). Such merged graphics- with-video design allows the system user to preview and modify the planned (`choreographed') viewing sequences. Further, during actual task execution, the system operator has available both the resulting optimized video sequence, as well as supplementary graphics views from arbitrary perspectives. IVC, including operator-interactive designation of robot task actions, is presented to the user as a well-integrated video-graphic single screen user interface allowing easy access to all relevant telerobot communication/command/control resources. We describe and show pictorial results of a preliminary IVC system implementation for telerobotic servicing of a satellite.

Paper Details

Date Published: 6 October 1994
PDF: 13 pages
Proc. SPIE 2355, Sensor Fusion VII, (6 October 1994); doi: 10.1117/12.189065
Show Author Affiliations
Paul S. Schenker, Jet Propulsion Lab. (United States)
Stephen F. Peters, Jet Propulsion Lab. (United States)
Eric D. Paljug, Jet Propulsion Lab. (United States)
Won Soo Kim, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 2355:
Sensor Fusion VII
Paul S. Schenker, Editor(s)

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