Methods for updating the environmentʹs geometric database in telerobotics Original Research Article

The paper deals with tools a human operator (HO) can use to complete, on-line, the 3D geometric database of the remote environment, even in case of bad condition of vision. The HO provides the system with the 3D geometric primitive of the objectʹs model and the 2D data from the video image. The sensing system: a monocular video camera and a time of flight IR range finder, provides the system with figures relating to the 3D primitives (location, pose, size). Methods for location and pose determination of known objects and for modelling of unknown ones are presented and assessed. These methods are available for polyhedral and cylinder shaped objects, which represent the bases of most of industrial environments.