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Computer Vision-Assisted Virtual Reality Calibration for Supervisory Control

Explore a model-based solution combining camera calibration and control for precise virtual reality calibration in space tasks, eliminating time delays. Incorporating line detection for efficient and accurate alignment adjustments.

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Computer Vision-Assisted Virtual Reality Calibration for Supervisory Control

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  1. Computer Vision Assisted Virtual Reality Calibration Won S. Kim Summarized by Geb Thomas

  2. Models and Supervisory Control • An accurate model would allow supervisory control • Video feedback used to make model accurate • Eliminate difficulties from the time delays • A natural application area is for orbital replacement units in the international space station

  3. The ORU Problem • End effector close-up camera is obstructed • Manual teleoperation is difficult • Alignment requirements on the order of +-1/4 inch and 3 degrees for rotation • 2-8 second round trip delay for near orbit

  4. A Solution • Use lines in the image to calibrate the cameras and model to the observations • Use the model on the ground to program the remote robots • Or upload the model and let the crew telemanipulate from the model

  5. The Challenges • 3D model-based recognition with global searches takes too long • Need operator interaction to limit searches • point-click for coarse positioning • graphic model control for fine tuning • Past methods have separated model and camera calibration. This approach combines them

  6. The Line Detector • Lines are easier and more reliable than points. • Uses Gennery’s weighted average local line detector

  7. The Sobel Detector K=1, for Prewitt K=2 for Sobel

  8. Find the line Segment Y’ (1-x’/L)h1 + (x’/L)h2 = y’ h2 h1 X’

  9. Linear Regression to find h1 and h2

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