空间遥操作机器人增强现实系统设计与实现  

Augmented Reality System for Space-teleoperation Robot

作　　者：刘国现[1] 于莲芝[1] 孙富春[2] 刘华平[2] 

机构地区：[1]上海理工大学,上海市200093 [2]清华大学计算机科学与技术系智能技术与系统国家重点实验室,北京市100084

出　　处：《微计算机信息》2010年第32期148-149,140,共3页Control & Automation

基　　金：上海市教委科研创新项目(5309302212)

摘　　要：虚拟预测技术是解决遥操作中时延问题的有效手段,但它依赖于建模的精度,由于增强现实技术具有现场环境信息,在遥操作中引入增强现实具有重大意义。本文即为解决虚拟现实预测技术的不足,设计实现一种用于空间遥操作的增强现实系统模型,该模型通过CCD摄像机采集实验现场的图像,并在计算机上将虚拟模型叠加到真实环境视频图像上,实现虚拟模型与现场信息在同一窗口中显示,从而方便操作者的观察与操作。文章研究了ARToolKit开发包的工作过程和视觉算法原理,给出了系统的硬件结构和软件实现流程,重点分析了实验系统中关键技术的实现方法。实验结果表明,该增强现实模型可以很好的弥补虚拟预测技术的不足,提高了遥操作系统的可靠性。Virtual forecasting technique is an effective means to solve the problem of time-delayed in teleoperation,But it depends on the accuracy of modeling.Due to augmented reality technology has on-site environmental information,it is great significance that augmented reality is introduced into teleoperation.This paper designs a kind of augmented reality system for space teleoperation.The model collect on-site environmental images by CCD camera,and virtual models will be added to the real-world video images.These virtual models and on-site information display in the same window,thereby facilitating the operator＇s observation and operation.It studies ARToolKit ＇ s work process and the principle of vision algorithms,gives the system＇s hardware architecture and software implementation processes,and focused on analyzing key technologies in experimental system.The experimental results show that the augmented reality system can compensate for the lack of virtual forecasting techniques and improve the reliability of the teleoperation system.

关 键 词：增强现实 遥操作 通讯时延 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]