基于增强现实的远程操作平台的设计与实现

Huan Hu, Xin Gao, Hanxu Sun, Q. Jia, Yanheng Zhang
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引用次数: 6

摘要

基于虚拟环境模型的预测显示是解决遥操作时延问题的有效方法。然而,如果没有精确的虚拟环境模型,这种方法将无法很好地工作。因此,在远程操作中引入带有视频反馈的增强现实技术,取代虚拟环境模型具有重要意义。为了提高系统稳定性,增强系统的临场感,方便操作者的观察和操作,开发了基于增强现实技术的远程操作系统平台。基于artoolkit的改进算法使系统适应多种类型的照明环境。本文介绍了系统的结构和关键模块的实现。通过按按钮、拉抽屉等实验对系统性能进行了评价。仿真结果表明,该系统能够弥补预测的缺陷,提高遥操作系统的可靠性。
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Design and implementation of the teleoperation platform based on augmented reality
Predictive display based on virtual environment models is an effective method of solving the problem of time delay in teleoperation. However, this method will not work well without the precise virtual environment model. Thus, it is of great significance that augmented reality with video feedback is introduced into teleoperation, instead of the virtual environment models. A teleoperation system platform based on augmented reality was developed to improve system stability and enhance system telepresence, facilitating the operator's observation and operation. The improved algorithm ARToolkit-based made the system adaptable to many types of lighting environments. This paper introduces system structure and the realization of key modules. Lots of experiments such as pressing the button, pulling the drawer and so on are also conducted to evaluate the system performance. The simulation results indicate that the proposed system can compensate the defect of prediction and improve teleoperation system reliability.
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