《3D augmented reality teleoperated robot system based on dual vision》.pdfVIP

The Journal of China Universities of Posts and Telecommunications February 2011, 18(1): 105–112 /science/journal 3D augmented reality teleoperated robot system based on dual vision GAO Xin (), HU Huan, JIA Qing-xuan, SUN Han-xu, SONG Jing-zhou School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China Abstract A 3D augmented reality navigation system using stereoscopic images is developed for teleoperated robot systems. The accurate matching between the simulated model and the video image of the actual robot can be realized, which helps the operator to accomplish the remote control task correctly and reliably. The system introduces the disparity map translation transformation method to take parallax images for stereoscopic displays, providing the operator an immersive 3D experience. Meanwhile, a fast and accurate registration method of dynamic stereo video is proposed, and effective integration of a virtual robot and the real stereo scene can be achieved. Preliminary experiments show that operation error of the system is maintained at less than 2.2 mm and the average error is 0.854 7, 0.909 3 and 0.697 2 mm at x , y , z direction respectively. Lots of experiments such as pressing the button, pulling the drawer and so on are also conducted to evaluate th