Interactive graphical model building using telepresence and virtual reality

Presents a prototype system developed at Sandia National Laboratories to create and verify computer-generated graphical models of remote physical environments. The goal of the system is to create an interface between an operator and a computer vision system so that graphical models can be created interactively. Virtual reality and telepresence are used to allow interaction between the operator, computer, and remote environment. A stereo view of the remote environment is produced by two CCD cameras. The cameras are mounted on a three degree-of-freedom platform which is slaved to a mechanically-tracked, stereoscopic viewing device. This gives the operator a sense of immersion in the physical environment. The stereo video is enhanced by overlaying the graphical model onto it. Overlay of the graphical model onto the stereo video allows visual verification of graphical models. Creation of a graphical model is accomplished by allowing the operator to assist the computer in modeling. The operator controls a 3-D cursor to mark objects to be modeled. The computer then automatically extracts positional and geometric information about the object and creates the graphical model