Composite video and graphics display for camera viewing systems in robotics and teleoperation

A system for real-time video image display for robotics or remote-vehicle teleoperation is described that has at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting element. The system has at least one television monitor for display of a television image from a selected camera and the ability to select one of the cameras for image display. Graphics are generated with icons of cameras and lighting elements for display surrounding the television image to provide the operator information on: the location and orientation of each camera and lighting element; the region of illumination of each lighting element; the viewed region and range of focus of each camera; which camera is currently selected for image display for each monitor; and when the controller coordinate for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera

Selective rendering for efficient ray traced stereoscopic images

Depth-related visual effects are a key feature of many virtual environments. In stereo-based systems, the depth effect can be produced by delivering frames of disparate image pairs, while in monocular environments, the viewer has to extract this depth information from a single image by examining details such as perspective and shadows. This paper investigates via a number of psychophysical experiments, whether we can reduce computational effort and still achieve perceptually high-quality rendering for stereo imagery. We examined selectively rendering the image pairs by exploiting the fusing capability and depth perception underlying human stereo vision. In ray-tracing-based global illumination systems, a higher image resolution introduces more computation to the rendering process since many more rays need to be traced. We first investigated whether we could utilise the human binocular fusing ability and significantly reduce the resolution of one of the image pairs and yet retain a high perceptual quality under stereo viewing condition. Secondly, we evaluated subjects' performance on a specific visual task that required accurate depth perception. We found that subjects required far fewer rendered depth cues in the stereo viewing environment to perform the task well. Avoiding rendering these detailed cues saved significant computational time. In fact it was possible to achieve a better task performance in the stereo viewing condition at a combined rendering time for the image pairs less than that required for the single monocular image. The outcome of this study suggests that we can produce more efficient stereo images for depth-related visual tasks by selective rendering and exploiting inherent features of human stereo vision