Interactive virtual space calibration for teleoperation

Accurate matching between actual task environment of remote site and virtual environment of 3D graphics has become more and more important in telerobotic operations. This paper presents an interactive calibration method for matching a virtual environment represented by 3D graphic models with a camera view of a remote workspace. In this method, when the virtual environment might deviate from the actual one, we can effectively correct the pose of the 3D model by finding the amount of deviation and then update the database of the workspace. This paper also shows the effectiveness of accurately calibrated virtual environment for telerobotic operations by simple a experiment