Stereoscopic camera and viewing systems with undistorted depth presentation and reduced or eliminated erroneous acceleration and deceleration perceptions, or with perceptions produced or enhanced for special effects

Methods for providing stereoscopic image presentation and stereoscopic configurations using stereoscopic viewing systems having converged or parallel cameras may be set up to reduce or eliminate erroneously perceived accelerations and decelerations by proper selection of parameters, such as an image magnification factor, q, and intercamera distance, 2w. For converged cameras, q is selected to be equal to Ve - qwl = 0, where V is the camera distance, e is half the interocular distance of an observer, w is half the intercamera distance, and l is the actual distance from the first nodal point of each camera to the convergence point, and for parallel cameras, q is selected to be equal to e/w. While converged cameras cannot be set up to provide fully undistorted three-dimensional views, they can be set up to provide a linear relationship between real and apparent depth and thus minimize erroneously perceived accelerations and decelerations for three sagittal planes, x = -w, x = 0, and x = +w which are indicated to the observer. Parallel cameras can be set up to provide fully undistorted three-dimensional views by controlling the location of the observer and by magnification and shifting of left and right images. In addition, the teachings of this disclosure can be used to provide methods of stereoscopic image presentation and stereoscopic camera configurations to produce a nonlinear relation between perceived and real depth, and erroneously produce or enhance perceived accelerations and decelerations in order to provide special effects for entertainment, training, or educational purposes

Hysteresis in human binocular fusion: temporalward and nasalward ranges

Fender and Julesz [J. Opt. Soc. Am. 57, 819 (1967)] moved pairs of retinally stabilized images across the temporalward visual fields and found significant differences between the disparities that elicited fusion and the disparities at which fusion was lost. They recognized this phenomenon as an example of hysteresis. In the work reported in this paper, binocular retinally stabilized images of vertical dark bars on white backgrounds were moved into horizontal disparity in both the nasalward and the temporalward directions. The limits of Panum's fusional area and the hysteresis demonstrated by these limits were measured for two observers. The following results were obtained: (1) the nasalward limits of Panum's fusional area and the hysteresis demonstrated by the nasalward limits do not differ significantly from the temporalward limits and the hysteresis demonstrated by the temporalward limits; (2) the limits of Panum's fusional area and the hysteresis demonstrated by these limits are not significantly different if one stimulus moves across each retina or if one stimulus is held still on one retina and the other stimulus is moved across the other retina; (3) the use of nonstabilized cross hairs for fixation decreases the hysteresis; and (4) the full hysteresis effect can be elicited with a rate of change of disparity of 2 arcmin/sec

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

Composite video and graphics display for multiple camera viewing system 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

Contraction blockers for graphs with forbidden induced paths.

We consider the following problem: can a certain graph parameter of some given graph be reduced by at least d for some integer d via at most k edge contractions for some given integer k? We examine three graph parameters: the chromatic number, clique number and independence number. For each of these graph parameters we show that, when d is part of the input, this problem is polynomial-time solvable on P4-free graphs and NP-complete as well as W[1]-hard, with parameter d, for split graphs. As split graphs form a subclass of P5-free graphs, both results together give a complete complexity classification for Pℓ-free graphs. The W[1]-hardness result implies that it is unlikely that the problem is fixed-parameter tractable for split graphs with parameter d. But we do show, on the positive side, that the problem is polynomial-time solvable, for each parameter, on split graphs if d is fixed, i.e., not part of the input. We also initiate a study into other subclasses of perfect graphs, namely cobipartite graphs and interval graphs

Graphic overlays in high-precision teleoperation: Current and future work at JPL

In space teleoperation additional problems arise, including signal transmission time delays. These can greatly reduce operator performance. Recent advances in graphics open new possibilities for addressing these and other problems. Currently a multi-camera system with normal 3-D TV and video graphics capabilities is being developed. Trained and untrained operators will be tested for high precision performance using two force reflecting hand controllers and a voice recognition system to control two robot arms and up to 5 movable stereo or non-stereo TV cameras. A number of new techniques of integrating TV and video graphics displays to improve operator training and performance in teleoperation and supervised automation are evaluated