Abstract:

A 3D augmented reality navigation system using stereoscopic images is developed for teleoperated robot systems. The accurate matching between the simulated model and the video image of the actual robot can be realized, which helps the operator to accomplish the remote control task correctly and reliably. The system introduces the disparity map translation transformation method to take parallax images for stereoscopic displays, providing the operator an immersive 3D experience. Meanwhile, a fast and accurate registration method of dynamic stereo video is proposed, and effective integration of a virtual robot and the real stereo scene can be achieved. Preliminary experiments show that operation error of the system is maintained at less than 2.2 mm and the average error is 0.854 7, 0.909 3 and 0.697 2 mm at x, y, z direction respectively. Lots of experiments such as pressing the button, pulling the drawer and so on are also conducted to evaluate the performance of the system. The feasibility studies show that the depth information of structure can be rapidly and recognized in remote environment site. The augmented reality of the image overlay system could increase the operating accuracy and reduce the procedure time as a result of intuitive 3D viewing.

Key words:

teleoperated robotic system, augmented reality, immersive interface, stereo display, binocular registration