Geometric database maintenance using CCTV cameras and overlay graphics

Abstract

An interactive graphics system using closed circuit television (CCTV) cameras for remote verification and maintenance of a geometric world model database has been demonstrated in GE's telerobotics testbed. The database provides geometric models and locations of objects viewed by CCTV cameras and manipulated by telerobots. To update the database, an operator uses the interactive graphics system to superimpose a wireframe line drawing of an object with known dimensions on a live video scene containing that object. The methodology used is multipoint positioning to easily superimpose a wireframe graphic on the CCTV image of an object in the work scene. An enhanced version of GE's interactive graphics system will provide the object designation function for the operator control station of the Jet Propulsion Laboratory's telerobot demonstration system.