Predictive display system for tele-manipulation using image-based modeling and rendering

Author

Deng, Zhenyuan ; Jagersand, Martin

Author_Institution

Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada

Volume

3

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

2797

Abstract

Using a combination of techniques from visual tracking, image-based rendering, distributed programming, and robot motion control, we present a predictive display system to improve local operator´s performance in tele-manipulations. More precisely, we construct a networked distributed system allowing the robot motion control and predictive display function to be implemented in a single PVM (Parallel Virtual Machine) program running on both the operator and remote scene computer. We also integrate our system with real-time pose tracking of the operator to allow 3D rendering in HMD.

Keywords

display instrumentation; distributed programming; helmet mounted displays; manipulators; motion control; parallel machines; rendering (computer graphics); telerobotics; three-dimensional displays; virtual machines; distributed programming; image based modeling; image based rendering; local operator´s performance; networked distributed system; parallel virtual machine; predictive display function; predictive display system; program running; real time pose tracking; remote scene computer; rendering; robot motion control; tele manipulations; visual tracking; Computer displays; Control systems; Motion control; Predictive models; Rendering (computer graphics); Robot control; Robot motion; Robot programming; Tracking; Virtual machining;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1249294

Filename

1249294