Optimizing the Camera and Positioning System for Telerobotic Work Station Viewing
Optimizing the Camera and Positioning System
for Telerobotic Work Station Viewing
TeleRobotics International, Inc.
8410 Oak Ridge Highway
Knoxville, TN 37931
Paul E. Satterlee (615-690-5600)
LaRC -- NAS1-18627
A necessary component of tele-operated robotic manipulation is visual feedback.
The goal of this project is to provide an improved remote viewing capability by simply
moving the optical elements of the camera system rather than orienting the entire
camera. The elimination of mechanical components and motion sensing devices should
increase reliability while significantly reducing size, weight, and maintenance costs--all
key elements to future NASA implementation of telerobotic viewing systems.
In the Phase I effort, a miniature, omni-directional, prototypical camera was produced.
Considerable reductions in size and weight were realized in this feasibility demonstration.
A theoretical analysis was performed to develop a mapping algorithm to convert a
fisheye image into an undistorted object plane representation for use with digital
electronics. The resulting algorithm allows pan, tilt, and zoom functions to be accomplished
with a fixed camera and was validated experimentally in Phase I. An electronic hardware
concept was also created.
Potential Commercial Application:
Potential Commercial Application: Applications are in the field of remote manipulation
in space missions, radioactive materials handling needs, remotely operated military
vehicles, and private sector surveillance and security systems.