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Computer Vision Assisted Virtual Reality Calibration

Computer Vision Assisted Virtual Reality Calibration. Won S. Kim Summarized by Geb Thomas. Models and Supervisory Control. An accurate model would allow supervisory control Video feedback used to make model accurate Eliminate difficulties from the time delays

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Computer Vision Assisted Virtual Reality Calibration

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  1. Computer Vision Assisted Virtual Reality Calibration Won S. Kim Summarized by Geb Thomas

  2. Models and Supervisory Control • An accurate model would allow supervisory control • Video feedback used to make model accurate • Eliminate difficulties from the time delays • A natural application area is for orbital replacement units in the international space station

  3. The ORU Problem • End effector close-up camera is obstructed • Manual teleoperation is difficult • Alignment requirements on the order of +-1/4 inch and 3 degrees for rotation • 2-8 second round trip delay for near orbit

  4. A Solution • Use lines in the image to calibrate the cameras and model to the observations • Use the model on the ground to program the remote robots • Or upload the model and let the crew telemanipulate from the model

  5. The Challenges • 3D model-based recognition with global searches takes too long • Need operator interaction to limit searches • point-click for coarse positioning • graphic model control for fine tuning • Past methods have separated model and camera calibration. This approach combines them

  6. The Line Detector • Lines are easier and more reliable than points. • Uses Gennery’s weighted average local line detector

  7. The Sobel Detector K=1, for Prewitt K=2 for Sobel

  8. Find the line Segment Y’ (1-x’/L)h1 + (x’/L)h2 = y’ h2 h1 X’

  9. Linear Regression to find h1 and h2

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