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3D-point-cloud registration and real-world dynamic modelling-based virtual environment building method for teleoperation

Published online by Cambridge University Press:  09 September 2016

Dejing Ni ,
Aiguo Song ,
Xiaonong Xu ,
Huijun Li ,
Chengcheng Zhu  and
Hong Zeng
Dejing Ni
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China. E-mails: ndj_seu@163.com, seuxxn@gmail.com, lihuijun@seu.edu.cn, zccins_seu@seu.edu.cn, hzeng@seu.edu.cn
Aiguo Song*
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China. E-mails: ndj_seu@163.com, seuxxn@gmail.com, lihuijun@seu.edu.cn, zccins_seu@seu.edu.cn, hzeng@seu.edu.cn
Xiaonong Xu
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China. E-mails: ndj_seu@163.com, seuxxn@gmail.com, lihuijun@seu.edu.cn, zccins_seu@seu.edu.cn, hzeng@seu.edu.cn
Huijun Li
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China. E-mails: ndj_seu@163.com, seuxxn@gmail.com, lihuijun@seu.edu.cn, zccins_seu@seu.edu.cn, hzeng@seu.edu.cn
Chengcheng Zhu
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China. E-mails: ndj_seu@163.com, seuxxn@gmail.com, lihuijun@seu.edu.cn, zccins_seu@seu.edu.cn, hzeng@seu.edu.cn
Hong Zeng
Affiliation:
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, P.R. China. E-mails: ndj_seu@163.com, seuxxn@gmail.com, lihuijun@seu.edu.cn, zccins_seu@seu.edu.cn, hzeng@seu.edu.cn
*
*Corresponding author. E-mail: a.g.song@seu.edu.cn
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Summary

It is a challenging task for a human operator to manipulate a robot from a remote distance, especially in an unknown environment. Excellent teleoperation provides the human operator with a sense of telepresence, mainly including real-world vision, haptic perception, etc. This paper presents a novel virtual environment building method using the red–green–blue (RGB) colour information, the surface normal feature-based 3D-point-cloud registration method and the weighted sliding-average least-square-method-based real-world dynamic modelling for teleoperation. The experiments prove the method to be an accurate and effective means of teleoperation.

Keywords

TeleoperationVirtual environment3D point cloudDynamic modelling
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 1958 - 1974
Copyright
Copyright © Cambridge University Press 2016 

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