Title
A TELEROBOTIC VIRTUAL CONTROL SYSTEM
Published in
Proc. SPIE, Vol. 1612, Cooperative Intelligent Robotics in Space II,
Boston, Nov. 11-13, 1991.
Author
Abstract
A project to develop a telerobotic "virtual control" capability,
currently underway at the University of Toronto, is described. The
project centres on a new mode of interactive telerobotic control based on
the technology of combining computer generated stereographic images
with remotely transmitted stereoscopic video images. A virtual
measurement technique, in conjunction with a basic level of digital
image processing, comprising zooming, parallax adjustment, edge
enhancement and edge detection have been developed to assist the
human operator in visualisation of the remote environment and in
spatial reasoning. The aim is to maintain target recognition, tactical
planning and high level control functions in the hands of the human
operator, with the computer performing low level computation and
control. Control commands initiated by the operator are implemented
through manipulation of a virtual image of the robot system, merged
with a live video image of the remote scene. This paper discusses the
philosophy and objectives of the project, with emphasis on the
underlying human factors considerations in the design, and reports the
progress made to date in this effort.
Full copy in postscript