公开(公告)号：US5182641A

公开(公告)日：1993-01-26

申请号：US716150

申请日：1991-06-17

申请人： Daniel B. Diner ,  Steven C. Venema

发明人： Daniel B. Diner ,  Steven C. Venema

IPC分类号： H04N7/18

CPC分类号： H04N7/181

摘要： A system for real-time video image display for robotics or remote-vehicle teleoperation having at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting elements. The system has at least one television monitor for display of a television image from a selected one of the cameras and the ability to select one of the cameras for image display. Graphics are generated with icons of the cameras and lighting elements for display surrounding the television image to provide the operator information as to location and orientation of each camera and lighting element, region of illumination of each lighting element, viewed region and range of focus of each camera, an indication of which camera is currently selected for image display for each monitor, and an indication of when controller coordinates for said robot arms or remotely operated vehicles have been transformed to correspond to coordinates of a selected or nonselected camera.

摘要翻译： 一种用于机器人或远程车辆远程操作的实时视频图像显示的系统，其具有至少一个由操作者通过手动控制器控制的机器人手臂或远程操作的车辆，以及一个或多个电视摄像机和可选的照明元件。 该系统具有至少一个电视监视器，用于从所选择的一个摄像机显示电视图像，以及选择用于图像显示的摄像机之一的能力。 图形生成有用于围绕电视图像的显示器的照相机和照明元件的图标，以提供关于每个照相机和照明元件的位置和取向的操作者信息，每个照明元件的照明区域，每个照明元件的观看区域和焦点范围 相机，当前为每个监视器的图像显示选择了哪个相机的指示，以及何时已经将所述机器人手臂或远程操作的车辆的控制器坐标转换为对应于所选择的或非选择的相机的坐标的指示。

公开(公告)号：US5065236A

公开(公告)日：1991-11-12

申请号：US608452

申请日：1990-11-02

申请人： Daniel B. Diner

发明人： Daniel B. Diner

IPC分类号： G02B27/22 ,  H04N13/00

CPC分类号： H04N13/0438 ,  G02B27/22 ,  H04N13/0239 ,  H04N13/0003 ,  H04N13/0296

摘要： Methods for providing stereoscopic image presentation and stereoscopic configurations using stereoscopic viewing systems having converged or parallel cameras may be set up to reduce or eliminate erroneously perceived accelerations and decelerations by proper selection of parameters, such as an image magnification factor q and intercamera distance 2w. For converged cameras, q is selected to be equal to Ve-qwl=0, where V is the camera convergence distance, e is half the interocular distance of an observer, w is half the intercamera distance and l is the actual distance from said first nodal point of each camera to said convergence point, and for parallel cameras, q is selected to be equal to e/w. While converged cameras cannot be set up to provide fully undistorted three-dimensional views, they can be set up to provide a linear relationship between real and apparent depth and thus minimize erroneously perceived accelerations and decelerations for three sagittal planes, x=-w, x=0 and x=+w which are indicated to the observer. Parallel cameras can be set up to provide fully undistorted three-dimensional views by controlling the location of the observer and by magnification and shifting of left and right images. In addition, the teachings of this disclosure can be used to provide methods of stereoscopic image presentation and stereoscopic camera configurations to produce a nonlinear relation between perceived and real depth, and erroneously produce or enhance perceived accelerations and decelerations in order to provide special effects for entertainment, training or educational purposes.

摘要翻译： 可以设置使用具有融合或并行相机的立体观看系统的立体图像呈现和立体配置的方法，以通过适当选择诸如图像放大因子q和插值距离2w的参数来减少或消除错误感知的加速度和减速度。 对于聚焦摄像机，q被选择为等于Ve-qwl = 0，其中V是照相机会聚距离，e是观察者的眼间距离的一半，w是摄像机间距离的一半，l是距离所述第一 每个摄像机的节点到所述融合点，并且对于并行摄像机，q被选择为等于e / w。 虽然融合摄像机不能设置为提供完全无失真的三维视图，但是它们可以被设置为在实际和表观深度之间提供线性关系，从而最小化三个矢状面的错误感知的加速度和减速度，x = -w，x = 0和x = + w。 可以通过控制观察者的位置以及左右图像的放大和移位来设置平行摄像机以提供完全不变的三维视图。 此外，本公开的教导可以用于提供立体图像呈现和立体摄像机配置的方法以产生感知和真实深度之间的非线性关系，并且错误地产生或增强感知的加速度和减速度，以便为娱乐提供特殊效果 ，培训或教育目的。

公开(公告)号：US4819064A

公开(公告)日：1989-04-04

申请号：US125666

申请日：1987-11-25

申请人： Daniel B. Diner

发明人： Daniel B. Diner

IPC分类号： H04N13/00

CPC分类号： H04N13/00 ,  H04N13/02

摘要： A method and apparatus for obtaining a stereo image with reduced depth distortion and optimum depth resolution. Static and dynamic depth distortion and depth resolution trade-off is provided. Cameras obtaining the images for a stereo view are converged at a convergence point behind the object to be presented in the image, and (a) the collection-surface-to-object distance, (b) the camera separation distance, and (c) the focal lengths of zoom lenses for the cameras are all increased. Doubling the distances cuts the static depth distortion in half while maintaining image size and depth resolution. Dynamic depth distortion is minimized by panning a stereo view-collecting camera system about a circle which passes through the convergence point and the cameras' first nodal points. Horizontal field shifting of the television fields on a television monitor brings both the monitor and the stereo views within the viewer's limit of binocular fusion.

摘要翻译： 一种用于获得具有降低的深度失真和最佳深度分辨率的立体图像的方法和装置。 提供静态和动态深度失真和深度分辨率折衷。 获取立体图像的摄像机会在要呈现在图像中的物体后面的会聚点处会聚，并且（a）收集表面到物体的距离，（b）相机间隔距离，以及（c） 相机的变焦镜头的焦距全部增加。 将距离加倍将静态深度失真减少一半，同时保持图像尺寸和深度分辨率。 通过对通过会聚点和照相机的第一节点的圆的平移立体声收视摄像系统来最小化动态深度失真。 在电视监视器上的电视场的水平场移动使显示器和立体视图在观察者的双眼融合极限内。

公开(公告)号：US5331413A

公开(公告)日：1994-07-19

申请号：US954109

申请日：1992-09-28

申请人： Daniel B. Diner

发明人： Daniel B. Diner

IPC分类号： H04N7/18

CPC分类号： H04N7/181

摘要： Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time. Factors in determining what is optimal include the operator's ability to use hand-controllers for each type of task. Robot joint locations, forces and torques are used, as well as the operator's identity, to identify the current type of task being performed in order to call up a stored optimal viewing arrangement and system parameter configuration.

摘要翻译： 在操作员监督的自动化和遥控操作领域提供了实时视频演示，特别是在具有可移动照相机的控制站中，用于最佳地观察机器人中的感兴趣区域和用于执行不同类型的任务的远程操作。 提供可移动监视器以匹配相应的摄像机方位（平移，倾斜和滚动），以便将所有监视器的坐标系与操作员内部坐标系相匹配。 提供了相机和显示器的布置的自动控制以及系统参数的配置，用于每个操作者的每种类型的任务的最佳观察和性能，因为操作者具有不同的个体特征。 为每个操作员确定和存储最佳观看布置和系统参数配置，以执行各种类型的任务，以便实现对连续任务的最佳布置和配置的自动化的自动化。 确定什么是最优的因素包括操作员为每种类型的任务使用手控制器的能力。 使用机器人关节位置，力和扭矩以及操作者的身份来识别当前正在执行的任务类型，以便调用存储的最佳观看布置和系统参数配置。