视频融合在机器人遥操作中的应用

在机器人遥操作系统中，目前普遍采用预测仿真的方法来克服信号传输时延对遥操作的
影响。但虚拟环境与实际环境往往不是完全一致的，因而仅仅依靠仿真图形来辅助完成遥操作任务是不可靠的。针对预测仿真的不足，本文详细介绍了视频融合中的关键技术，使仿真图形能精确的与视频图像相匹配，从而直观的为操作者提供仿真模型与真实机器人运动是否一致的信息，辅助操作者正确可靠的完成遥操作任务。
关键词视频融合；机器人遥操作；预测显示；相机标定
Abstract: In telerobotic systems, predictive displays are widely used to overcome the affection of time delay at present. But it is not reliable to accomplish the remote-servicing task by the assistant of the simulated graphic models because of the lack of accurate matching between the virtual environment and the real environment. This paper presents key techniques about an overlay of the three dimensional graphical models over video images. It can offer the operator the accurate matching between the simulated model and the video image of the actual robot, and assist the operator to accomplish the remote control task correctly and reliably.
key words: graphics overlay on video images; telerobotic operation;predictive display;camera calibration