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Augmentation of a Telerobotic Stereo-vision System Using Graphical Overlays

Islam, S.M.S. and Al-Mouhamed, M. and Al-Kharobi, T. and Buhari, S.M. Augmentation of a Telerobotic Stereo-vision System Using Graphical Overlays. Proc. of the First International Conference on Industrial and Information Systems (IIS), Peradeniya, Sri Lanka, August 8-11, 2006. (accepted for oral presentation)..

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Abstract

A telerobotic stereo-vision system is used to extend operator’s eyehand motion co-ordination to a distance and has been used in many applications. One of the most critical problems of such system is communication delay that leads to teleoperation instability. The problem can be minimized by using Augmented Reality (AR) concepts of superimposing virtual objects onto the real video image of the workspace to create a simulation plan in the local machine. This facilitates trial and error increasing task safety with reduced network interactions. In this paper, a detailed model to augment a given stereo-vision system with AR is presented. At first, a six DOF 3D graphical arm is designed and then superimposed onto the video image using camera calibration and registration methods. Motion activation algorithms are developed and interfaces are designed to facilitate task simulations. The system is implemented using Microsoft .NET with Visual C# and DirectX 9 to augment a stereovision system comprising of a PUMA-560 robot operating over a LAN.



Item Type:Article
Subjects:Computer
Divisions:College Of Computer Sciences and Engineering > Computer Engineering Dept
Creators:Islam, S.M.S. and Al-Mouhamed, M. and Al-Kharobi, T. and Buhari, S.M.
Email:shams@kfupm.edu.sa, mayez@kfupm.edu.sa, talal@kfupm.edu.sa, buhari@kfupm.edu.sa
ID Code:80242
Deposited By:MAYEZ AL-MOUHAMED
Deposited On:18 Feb 2009 13:55
Last Modified:12 Apr 2011 13:17

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