Design of an augmented telerobotic stereo vision system and associated security concerns

Syed Islam, M. Al-Mohammed, R. Islam, M. Bhattacharya, T.M. Alkharobi, S.M. Buhari

Research output: Chapter in Book/Conference paperConference paper

Abstract

© 2015 IEEE. A telerobotic stereo vision system is used to extend operator's eye-hand motion co-ordination to a distance and has been used in many applications. One of the most critical problems of such system is communication delay that leads to teleoperation instability. This problem can be minimized by using Augmented Reality (AR) concepts of superimposing virtual objects onto the real video image of the workspace to create a simulation plan in the local machine. This facilitates trial and error increasing task safety with reduced network interactions. In this paper, a detailed model to augment a given stereo vision system with AR is presented. At first, a six DOF 3D graphical arm is designed and then superimposed onto the video image using camera calibration and registration methods. Motion activation algorithms are developed and interfaces are designed to facilitate task simulations. Data transmission security and integrity over the network are also discussed. The system is implemented using Microsoft.NET with Visual C# and DirectX 9 to augment a stereo vision system comprising of a PUMA-560 robot operating over a LAN.
Original languageEnglish
Title of host publicationProceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
Place of PublicationUSA
PublisherWiley-IEEE Press
Pages1809-1814
ISBN (Print)9781467373173
DOIs
Publication statusPublished - 2015
Event10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 - Auckland, New Zealand
Duration: 15 Jun 201517 Jun 2015

Conference

Conference10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015
CountryNew Zealand
CityAuckland
Period15/06/1517/06/15

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    Islam, S., Al-Mohammed, M., Islam, R., Bhattacharya, M., Alkharobi, T. M., & Buhari, S. M. (2015). Design of an augmented telerobotic stereo vision system and associated security concerns. In Proceedings of the 2015 10th IEEE Conference on Industrial Electronics and Applications, ICIEA 2015 (pp. 1809-1814). Wiley-IEEE Press. https://doi.org/10.1109/ICIEA.2015.7334405