A Real-Time Vision System for Telerobotic Manipulator with Large Time Delay

This paper presents a real-time vision system for telerobotic manipulator with large time delay. This system consists of a number of subsystems, including image acquisition system, image transmission system, object tracking system and pose estimation system. Furthermore, a pose estimation algorithm is proposed and developed to estimate the motion for tele-robotic manipulator by the 3D reconstruction uncertainty. In order to estimate the pose of the robotic manipulator, a new cooperative target is designed for tracking the manipulator. We validate our method through the experiments and comparison with the state-of-art methods. The performance of the vision system is validated in real tele-operation with a simulated large time delay.