Virtual reality calibration and preview/predictive displays for telerobotics

Presence: Teleoperators and Virtual Environments

Volumn 5, Issue 2, 1996, Pages 173-190

  Kim, Won S ^a  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0030094038     PISSN: 10547460     EISSN: None     Source Type: Journal    
DOI: 10.1162/pres.1996.5.2.173     Document Type: Article

References (42)

1. Arun, K. S., Huang, T. S., & Blostein, S. D. (1987). Least-squares fitting of two 3-D point sets. IEEE Transactions on Pattern Analysis and Machine Intelligence, PAMI-9, 698-700.
2. Ballard, D. H., & Brown, C. M. (1982). Computer vision. Englewood Cliffs, NJ: Prentice-Hall.
3. Bejczy, A. K. (1980). Sensors, controls, and man-machine interface for advanced teleoperation. Science, 208(4450), 1327-1335.
4. Bejczy, A. K., Kim, W. S., & Venema, S. (1990). The phantom robot: Predictive displays for teleoperation with time delay. Proceedings of the IEEE International Conference on Robotics and Automation, Cincinnati, OH, 546-551.
5. Bejczy, A. K., Szakaly, Z., & Kim, W. S. (1989). A laboratory breadboard system for dual-arm teleoperation. Proceedings of the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), NASA Johnson Space Center, TX, 649-660.
6. Das, H. (1992). Capaciflector data display. Jet Propulsion Laboratory Internal Document Interoffice Memorandum, 3474-92-092.
7. Ellis, S. R. (1994). What are virtual environments? IEEE Computer Graphics and Applications, 17-22.
8. Faugeras, O. D., & Hebert, M. (1983). A 3-D recognition and positioning algorithm using geometric matching between primitive surfaces. Proceedings of the 8th International Conference on Artificial Intelligence, 996-1002.
9. Ferrell, W. R. (1965). Remote manipulation with transmission delay. IEEE Transactions on Human Factors in Electronics, HFE-6, 24-32.
10. Ganapathy, S. (1984). Decomposition of transformation matrices for robot vision. Proceedings of the IEEE International Conference on Robotics and Automation, 130-139.
11. Goertz, R. C. (1965). An experimental head-controlled television to provide viewing for a manipulator operator. Proceedings of the 13th Remote Systems Technology Conference, Argonne National Laboratory, 57-60.
12. Goertz, R. C., & Bevilacqua, F. (1952). A force-reflecting positional servomechanism. Nucleonics, 10(11), 43-45.
13. Hannaford, B., & Wood, L. (1989). Performance evaluation of a 6-Axis high fidelity generalized force reflecting teleoperator. Proceedings of the NASA Conference on Space Telerobotics, JPL Pub. 89-7, Pasadena, CA, 87-96.
14. Hashimoto, T., Sheridan, T. B., & Noyes, M. V. (1986). Effects of predictive information in teleoperation with time delay. Japanese Journal of Ergonomics, 22(2).
15. Horn, B. K. P. (1986). Robot vision. Cambridge, MA: MIT Press.
16. Jau, B. M., Lewis, M. A., & Bejczy, A. K. (1994). Anthropomorphic telemanipulation system in terminus control mode. Proceedings of the Tenth CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators and Ro.Man.Sy.10, Warsaw, Poland.
17. Kim, W. S., & Bejczy, A. K. (1991). Graphics displays for operator aid in telemanipulation. Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Charlottesville, VA, 1059-1067.
18. Kim, W. S., & Bejczy, A. K. (1993). Demonstration of a high-fidelity predictive/preview display technique for telerobotic servicing in space. IEEE Transactions on Robotics and Automation, 9(5), 698-702.
19. Kim, W. S., Hannaford, B., & Bejczy, A. K. (1992). Force-reflection and shared compliant control in operating telemanipulators with time delay. IEEE Transactions on Robotics and Automation, 8(2), 176-185.
20. Kim, W. S., Schenker, P. S., Bejczy, A. K., Leake, S., & Ollendorf, S. (1993). An advanced operator interface design with preview/predictive displays for ground-controlled space telerobotic servicing. Proceedings SPIE Conference 2057: Telemanipulator Technology and Space Telerobotics, Boston, MA, 96-107.
21. Kim, W. S., & Stark, L. (1989). Cooperative control of visual displays for telemanipulation. Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, 1327-1332.
22. Lawson, C. L., & Hanson, R. J. (1974). Solving Least Squares Problems. Englewood Cliffs, NJ: Prentice-Hall.
23. Leake, L. (1991). A cartesian force reflecting teleoperation system. International Journal of Computers and Electrical Engineering, 17(3), 133-146.
24. Liu, A., Tharp, G., French, L., Lai, S., & Stark, L. (1993). Some of what one needs to know about using head-mounted displays to improve teleoperator performance. IEEE Transactions on Robotics and Automation, 9(5), 638-648.
25. Lucas, J. R. (1963). Differentiation of the orientation matrix by matrix multipliers. Photogrammetric Engineering, 29, 708-715.
26. Moffitt, F. H., & Mikhail, E. M. (1980). Photogrammetry. New York: Harper & Row.
27. Murray, W. (1972). Numerical methods for unconstrained optimization. London: Academic Press.
28. Nguyen, A., & Stark, L. (1989). 3D model control of image processing. Proceedings of the NASA Conference on Space Telerobotics, JPL Pub. 89-7, Pasadena, CA, 213-222.
29. Noyes, M. V., & Sheridan, T. B. (1984). A novel predictor for telemanipulation through a time delay. Proceedings of the 20th Annual Conference on Manual Control, NASA Ames Research Center, Moffett Field, CA.
30. Roberts, L. G. (1965). Machine perception of three-dimensional solids. In Tippet, J. T. (Ed.), Optical and electro-optical information processing, Cambridge, MA: MIT Press.
31. Sheridan, T. B. (1992). Telerobotics, automation, and human supervisory control, Cambridge, MA: MIT Press.
32. Sheridan, T. B. (1993). Space teleoperation through time delay: Review and prognosis. IEEE Transactions on Robotics and Automation, 9(5), 592-606.
33. Shutt, G. H. (1960). On exact linear equations for the computation of the rotational elements of absolute orientation. Photogrammetria, 17(1), 34-37.
34. Stark, L., Kim, W. S., Tendick, F., Ellis, S., Hannaford, B., et al. (1987). Telerobotics: Display, control, and communication problems. IEEE Journal of Robotics and Automation, RA-3, 67-75.
35. Stark, L., Mills, B., Nguyen, A. H., & Ngo, H. X. (1988). Instrumentation and robotic image processing using top-down model control. In Jamshidi et al. (Eds.), Robotics and manufacturing (pp. 675-682). New York: ASME Press.
36. Strang, G. (1980). Linear algebra and its applications. Orlando, FL: Academic Press.
37. Sutherland, I. E. (1974). Three-dimensional data input by tablet. Proceedings of IEEE, 62(4), 453-461.
38. Tachi, S., Arai, H., & Maeda, T. (1990). Tele-existence master slave system for remote manipulation. Proceedings of the IEEE International Workshop on Intelligent Robotics and Systems (IROS '90), Tsuchiura, Japan, 343-348.
39. Tendick, F., Voichick, J., Tharp, G., & Stark, L. (1991). A supervisory telerobotic control system using model-based vision feedback. Proceedings of the IEEE International Conference on Robotics and Automation, Sacramento, CA.
40. Tsai, R. Y. (1987). A versatile camera calibration technique for high-accuracy 3D vision metrology using off-the-self TV cameras and lenses. IEEE Journal of Robotics and Automation, RA-3(4), 323-344.
41. Vykukal, H. C., King, R. F., & Vallotton, W. C. (1973). An anthropomorphic master-slave manipulator system. In E. Heer (Eds.), Remotely manned, systems: Exploration and operation in space, (pp. 199-205). Pasadena, CA: California Institute of Technology.
42. Walker, M. W., Shao, L., & Volz, R. A. (1991). Estimating 3-D location parameters using dual number quaternions. CVGIP: Image Understanding, 54(3), 358-367.