A linearly-mapping stereoscopic visual interface for teleoperation

摘要

Proposes a new type of visual interface system for teleoperated systems. Remote operations, particularly those in space, require robotic devices that are capable of performing a variety of complex mechanical manipulations with a high degree of precision and reliability. These devices must also be able to act and react accordingly to unforeseen circumstances that arise as a result of the unpredictable nature of space. Since fully autonomous motion for robots in space environments is not yet realizable, these systems must be controlled by direct dialogue through an ergonometrically designed user interface. Effective display, that includes accurate depth perception, of the remote scene is essential and vitally important for these interfaces. Although stereoscopic vision systems have been in existence for several years, most produce non-linearly mapped (distorted) images. The system proposed in the paper produces linearly-mapped images, thus facilitating the execution of teleoperated tasks.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>