<title>Telerobot control using enhanced stereo viewing</title>

摘要

A telerobot control system using stereoscopic viewing has been developed. The objective of the system is to implement a world-model mapping capability using live stereo video to provide an operator with three-dimensional image information of an unstructured environment and to use stereo computer graphics renderings of wire-frame models of sought-after features in the environment in order to relate robotic task information. The operator visually correlates or matches the stereo video image of the environment with the graphic image to register the world model space to the manipulator's environment. This allows operator control of the manipulator through teleoperation in unstructured environments with a change-over to autonomous operation when the operation can be restricted and a task becomes repetitive. Details of the robot control, stereo imaging, and system control components are provided.