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Virtual window telepresence system for telerobotic inspection

Telerobotic inspection can be used in environments that are too hazardous, removed, or expensive for direct human inspection. Telerobotic inspection is a complex task requiring an operator to control and coordinate a robot and sensors, while monitoring and interpreting sensor data to detect flaws. A virtual window telepresence system has been developed to aid the operator in performing these inspections. While the operator is looking at a monitor displaying stereo video from cameras mounted on the robot, the system tracks operator head position and moves the robot to create the illusion that the operator is looking out a window. This interface allows the operator to naturally specify desired viewpoint and enables him to concentrate on the visual examination of the area that may contain a flaw.