The geometric modeling of the environment can be carried out by incorporating a video camera range finder. When the quality of images is poor, the range finder, which is mounted on a site and azimuth rotation turret, brings an indispensable complement by measures of depth. The purpose of this paper is to build a geometric database of a three-dimensional (3-D) world in telerobotic applications. The...

To achieve the updating of a 3D environment database, the human operator must be provided with methods for recovering the position-orientation of a known object. In this paper two different methods are presented: the first one is based on the edges and uses geometric tranformations to retrieve the position-orientation of the object. The other technique is numerical and based on the vertices and constraints on these vertices. Then a comparison is made between the methods, which focuses on both the application fields and the results given by their respective algorithms. These 3D recovering methods allow to control a robot by pointing out the object to be manipulated onto the video screen.

The paper deals with the updating of environment's geometric database in telerobotics. It concerns the pose determination of known objects using 2D clues obtained through video images. A two step algorithm is implemented and assessed. The first step is available in case of object large motion, it is a geometric algorithm, which doesn't use redundant data; it provides a first estimate of the pose. The second step is available in case of object small motion. A linear approach is carried out to determine the pose. It allows the use of redundant data, so it improves the accuracy achieved after the first step