Abstract-In tele-robotics delayed visual feedback to the human operator can degrade task performance significantly. To improve this, predictive display, uses a scene model to estimate and render immediate visual feedback based on the operator's control commands. Traditional predictive display involves the calibration and overlay of an a-priori model with the delayed real video feedback. In this paper we present an image-based method where the scene geometry and appearance is captured using structure-frommotion by an uncalibrated eye-in-hand camera mounted on the remote robot. The model is then compressed and transmitted to the operator site, where it is used to generate immediate feedback in response to the operators movements. Calibration problems are avoided since the model is captured by the same scene camera as is being simulated in the predictive display. We show experiments where we capture the appearance of a robot hand and transmit it over the network to the operator site where the model renders scene appearance change in response to operator viewpoint motion.
We present a method that using only an uncalibrated camera allows the capture of object geometry and appearance, and then at a later stage registration and AR overlay into a new scene. Using only image information first a coarse object geometry is obtained using structure-from-motion, then a dynamic, view dependent texture is estimated to account for the differences between the reprojected coarse model and the training images. In AR rendering, the object structure is interactively aligned in one frame by the user, object and scene structure is registered, and rendered in subsequent frames by a virtual scene camera, with parameters estimated from real-time visual tracking. Using the same viewing geometry for both object acquisition, registration, and rendering ensures consistency and minimizes errors.
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