Scanpath-based model for visual tracking of telerobots

A vision-based tele-operating system had been designed and simulated in our lab with model-based supervisory control and model-based, top-down image processing, IP, for vehicle pose recovery. Top-down IP at near real-time feedback was achieved by a pose extraction algorithm based on the scanpath theory of human eye movement. In this paper, we extended our system into a multiple cameras system to improve the accuracy and robustness of the visual system. Another possible approach was to use mobile camera platforms. We contrasted the difference between the two approaches in the context of our system requirement and limitation. OpenGL based simulation was used to illustrate advantages of using more cameras quantitatively to increase system robustness against plant and image noise.

[1]  A K Bejczy,et al.  Sensors, Controls, and Man-Machine Interface for Advanced Teleoperation , 1980, Science.

[2]  Lawrence W. Stark,et al.  A comparison of position and rate control for telemanipulations with consideration of manipulator system dynamics , 1987, IEEE Journal on Robotics and Automation.

[3]  Lawrence W. Stark,et al.  Instrumentation and robotic image processing using top-down model control , 1990 .

[4]  Lawrence Stark,et al.  On-the-screen visual enhancements for a telerobotic vision system , 1988, Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics.

[5]  Lawrence Stark.  Top-down vision in humans and robots , 1993, Electronic Imaging.

[6]  Won S. Kim,et al.  The phantom robot: predictive displays for teleoperation with time delay , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[7]  Dana R. Yoerger,et al.  Supervisory control architecture for underwater teleoperation , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[8]  Thomas B. Sheridan,et al.  Supervisory control of remote manipulation , 1967, IEEE Spectrum.

[9]  Lawrence W. Stark,et al.  Model-Based Supervisory Control in Telerobotics , 1996, Presence: Teleoperators & Virtual Environments.

[10]  Andrew K. C. Wong,et al.  Visual transformation of a 3D object in attribute hypergraph representation , 1993 .

[11]  Yong Yu,et al.  An active model-based algorithm for correspondence and estimation of pose parameters of objects , 1995, 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century.

[12]  Edmund G. Zelnio.  ATR paradigm comparison with emphasis on model-based vision , 1992, Other Conferences.

[13]  Blake Hannaford,et al.  Telerobotics: Display, control, and communication problems , 1987, IEEE J. Robotics Autom..

[14]  L. W. Stark,et al.  Top-down image processing and supervisory control limitations in robotics: a simulation study , 1997, 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97.

[15]  Blake Hannaford,et al.  Manipulation in real, virtual and remote environments , 1995, 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century.