The Role of Computer Graphics in Teleoperation

by Antal K. Bejczy, Jet Propulsion Lab, Pasadena, United States,
Won-Soo Kim, Jet Propulsion Lab, Pasadena, United States,
Paul S. Schenker, Jet Propulsion Lab, Pasadena, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

Computer graphics techniques developed by the Advanced Teleoperation (ATOP) Project at the Jet Propulsion Laboratory (JPL) for the control of remote manipulators, primarily for space applications, are briefly described. The results, however, are also relevant for terrestrial remote control problems. A key JPL-developed technique is the high-fidelity calibration of graphic images to actual TV camera images. This enables the operator to overlay 3-D graphics models of robot arms and objects over given 2-D TV views of live scenes and to generate valuable synthetic TV views of the same scenes.



Subject Headings: Two-dimensional models | Traffic engineering | Remote control | Three-dimensional models | Calibration | Computer software | Graphic methods | Motion (dynamics)

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