Virtual-actual Space Alignment Based on Salient Color Features in VR Aided Tele-operation System  

作　　者：杨雨东 曾建超 

出　　处：《Tsinghua Science and Technology》1997年第4期86-89,共4页清华大学学报（自然科学版（英文版）

摘　　要：A dynamic calibration method is developed for virtual actual space alignment in VR aided tele operation systems. During model building natural or man made salient color features in the actual environment are picked out and marked on the environment model. During tele operation, if the color camera mounted on the tele operation platform sees some of the modeled color features, the platform orientation can be determined from a single camera view. Correspondence between detected features and modeled features is based on the color attributes and the geometric relationships between them. Finally, a simple closed form location calculation for a 4DOF moving camera is given based on the locations of the three feature points. A dynamic calibration method is developed for virtual actual space alignment in VR aided tele operation systems. During model building natural or man made salient color features in the actual environment are picked out and marked on the environment model. During tele operation, if the color camera mounted on the tele operation platform sees some of the modeled color features, the platform orientation can be determined from a single camera view. Correspondence between detected features and modeled features is based on the color attributes and the geometric relationships between them. Finally, a simple closed form location calculation for a 4DOF moving camera is given based on the locations of the three feature points.

关 键 词：dynamic calibration tele operation virtual reality color vision 

分 类 号：TN942.1[电子电信—信号与信息处理]