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Internet-based teleoperation using VE modelling based on single images

Virtual environment (VE) techniques provide a powerful tool for the visualisation of the 3D environment of a teleoperation work site, particularly when "live" video display is inadequate for the task's operation or when its transmission is constrained, for example by limited bandwidth. However, the ability of a VE to cope with the dynamic phenomena of typical teleoperation work sites is severely limited by its pre-defined model-based nature. Thus, an online composing mechanism is needed to make it environment-compliant. This paper describes a method for this purpose, based on workspace analysis, in which objects are constructed from simple 2D images and VEs are modelled interactively. Experiments have shown that the method is convenient and effective for online VE editing.