Telemanipulation without Physical Contact in the Intelligent Space

Abstract:

This paper presents a telemanipulation system, where the operator's movement is transmitted to the slave site not in a mechanical way, as in case of a real master device, but by image processing. The virtual master device uses cameras as sensors, subtracts the background from the images, and recognizes the skin colour of the operator in real time. The 3D position of the operator's hand is determined by stereo vision and it becomes traceable by the colour of the skin.

• Periodical: Advanced Materials Research (Volume 222)
• Pages: 362-366
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.222.362
• Online since: April 2011
• Authors: Béla Takarics, Gábor Sziebig, Péter Korondi
• Keywords: Image Processing, RT-Middleware, Skin Colour Recognition, Telemanipulaion

References

[1] P. Korondi and H. Hashimoto: Intelligent Space, as an integrated intelligent system in International Conference on Electrical Drives and Power Electronics (2003) pp.24-31.

[2] G. Sziebig, A. Gaudia, P. Korondi and N. Ando: Video image processing system for RT-middleware in 7th International Symposium of Hungarian Researchers on Computational Intelligence (2006) pp.461-472.

[3] P. Tamas: 3D Measuring of the Human Body by Robots in 5th International Conference Innovation and Modelling of Clothing Engineering Processes (2007) pp.109-115.

[4] K. Wenzel, A. Antal, J. Molnar, B. Toth and P. Tamas: New Optical Equipement in 3D Surface Measuring in Journal of Automation, Mobile Robotics & Intelligent Systems, Vol. 3, No. 4 (2009), pp.29-32.

[5] M. Kranz, R.B. Rusu, A. Maldonado, M. Beetz, and A. Schmidt: A Player/Stage System for Context-Aware Intelligent Environments in Proceedings of the System Support for Ubiquitous Computing Workshop (2006).

[6] Player/Stage project: http: /playerstage. sourceforge. net.

[7] N. Ando, T. Suehiro, K. Kitagaki, T. Kotoku and WK. Yoon: RT-Middleware: Distributed Component Middleware for RT (Robot Technology) in IEEE/RSJ International Conference on Intelligent Robots and Systems (2005) pp.3555-3560.

DOI: 10.1109/iros.2005.1545521

[8] M. Piccardi: Background Subtraction Techniques: a Review (2004).

[9] R. Y. Tsai: A Versatile Camera Calibration Technique for High-Accuracy 3D Machine Vision Metrology Using Off-the shelf TV Cameras and Lenses in IEEE Journal of Robotics and Automation, Vol. 3. No. 4 (1987) pp.323-344.

DOI: 10.1109/jra.1987.1087109