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Abstract

A method for the modelling of selected, task related objects in a remote environment is proposed. A 3-dimensional computer aided design (CAD) model of a geometric (volume) primitive is created at the previously measured reference position of the real object. The type of the geometric primitive is given by the operator. Video image of the virtual object seen through the virtual camera is mixed with the video image from the real camera. Both cameras are located at the same position and orientation in the virtual/real teleoperation space. The operator rotates and scales the virtual object model until the size and the orientation match with those of the real object. A perspective image of the mixed virtual/real worlds is used as feedback to carry out the task. For each primitive type object (eg box, cylinder and cone) one measured 3-dimensional point is required to fix the object position in the 3-dimensional space.

Additional information

Authors: FORSMAN P, Helsinki University of Technology, Laboratory of AutomationTechnology, Espoo (FI);HALME A, Helsinki University of Technology, Laboratory of AutomationTechnology, Espoo (FI)
Bibliographic Reference: Paper presented: 7th International Conference on Advanced Robotics, Sant Felin de Guixols (ES), September 20-22, 1995
Availability: Available from (1) as Paper EN 39386 ORA
Record Number: 199512057 / Last updated on: 1996-01-15
Category: PUBLICATION
Original language: en
Available languages: en