Interactive scene analysis module: a sensor-database fusion system for telerobotic environments

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Abstract
Accomplishing a task with telerobotics typically involves a combination of operator control/supervision and a `script' of preprogrammed commands. These commands usually assume that the location of various objects in the task space conform to some internal representation (database) of that task space. The ability to quickly and accurately verify the task environment against the internal database would improve the robustness of these preprogrammed commands. In addition, the on-line initialization and maintenance of a task space database is difficult for operators using Cartesian coordinates alone. This paper describes the interactive scene analysis module (ISAM) developed to provide task space database initialization and verification utilizing 3-D graphic overlay modeling, video imaging, and laser radar based range imaging. Through the fusion of task space database information and image sensor data, a verifiable task space model is generated providing location and orientation data for objects in a task space. This paper also describes applications of the ISAM in the Intelligent Systems Research Laboratory (ISRL) at NASA Langley Research Center, and discusses its performance relative to representation accuracy and operator interface efficiency.

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