Virtual Reality Calibration and Preview/Predictive Displays for Telerobotics
- 1 January 1996
- journal article
- conference paper
- Published by MIT Press in PRESENCE: Virtual and Augmented Reality
- Vol. 5 (2) , 173-190
- https://doi.org/10.1162/pres.1996.5.2.173
Abstract
A virtual reality (VR) calibration technique of matching a virtual environment of simulated three-dimensional (3-D) graphic models with actual camera views of the remote site task environment has been developed. This VR calibration enables high-fidelity preview/predictive displays with calibrated graphics overlay on live video. Reliable and accurate calibration is achieved by operator-interactive camera calibration and object localization procedures based on new linear/nonlinear least-squares algorithms that can handle multiple-camera views. Since the object pose becomes known through the VR calibration, the operator can now effectively use the semiautomatic computer-generated trajectory mode in addition to the manual teleoperation mode. The developed VR calibration technique and the resultant high fidelity preview/predictive displays were successfully utilized in a recent JPL/NASA-GSFC (Jet Propulsion Laboratory/Goddard Space Flight Center) telerobotic servicing demonstration. Preview/predictive displays...This publication has 1 reference indexed in Scilit: