Color and three-dimensional vision-based assistive telemanipulation

摘要

This paper presents a general purpose assistive tele-robot system that is designed to manipulate objects in a three-dimensional environment by using color and stereo vision. The incorporated vision system allows the user to operate the robot remotely simply by gesturing (pointing with a laser pointer). In this vision-based tele-manipulation system, the user is in the control loop actively interacting with the reactive robot motion planner through a multimodal interface (vision and speech). Because of this unique feature, the robot system has been simplified and released from performing the complex object recognition tasks that are often required by autonomous systems.