3D Virtual Presence for Telerobotics in Dynamic Scenes
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Solution Overview
Problem
Current telerobotics systems face challenges in achieving full immersion and accurate control in dynamic scenes due to limited field of view, stereo perception, and network delays, making it difficult for operators to perform complex tasks effectively.
Innovation Solution
A system utilizing Simultaneous Localization and Mapping (SLAM) technology to replicate the robot's environment in true 3D space, combined with Augmented Reality (AR)/Virtual Reality (VR) headsets, enables precise location tracking and dynamic scene updates, allowing operators to interact with the environment in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If a camera is used to live-stream the robot's view, then the operator can perceive the remote environment, but the field of view and stereo perception are limited, reducing immersion quality
Solution Approach 1:
The patent creates a virtual copy of the physical environment using SLAM technology. The system generates a 3D digital replica of the scene that the operator can interact with, providing complete environmental information without the limitations of camera field of view. This virtual model serves as a comprehensive copy that enhances operator perception and immersion.
Solution Approach 2:
The patent transitions from 2D camera views to a full 3D virtual environment representation. By constructing a three-dimensional model of the scene with proper spatial relationships and depth information, the system provides operators with immersive spatial awareness that eliminates the limitations of flat camera feeds.
2Loss of information
If network transmission is used to send camera live stream data, then the operator can receive visual feedback, but network delay causes lag between actual scene changes and displayed information
Solution Approach 1:
The system performs preliminary actions by continuously building and updating the 3D virtual model of the environment in advance. Instead of transmitting raw camera data in real-time, the SLAM system pre-processes sensor data to maintain an up-to-date virtual representation, reducing the need for real-time data transmission and minimizing delay.
Solution Approach 2:
The patent introduces a virtual 3D model as an intermediary between the physical environment and the operator. Rather than directly transmitting camera feeds, the system uses the virtual model as a mediator that represents the environment state, allowing operators to interact with this intermediate representation that is updated more efficiently than raw video streams.
3Loss of information
If high definition video streaming is used to provide detailed visual information, then operator perception improves, but bandwidth requirements increase significantly
Solution Approach 1:
The patent extracts only the essential geometric and spatial information from the environment using SLAM algorithms. Instead of transmitting complete high-definition video data, the system extracts key features, depth information, and spatial relationships to construct a 3D model, significantly reducing data transmission requirements while maintaining perceptual quality.
Solution Approach 2:
The patent replaces the mechanical video streaming system with a computational modeling approach. Instead of relying on high-bandwidth video transmission, the system uses SLAM algorithms to computationally generate a 3D representation from sensor data, substituting data-intensive video transmission with more efficient computational processing and reduced data transmission.
Data Source
AI summary
Described herein are methods and systems for providing virtual presence for telerobotics in a dynamic scene. A sensor captures frames of a scene comprising one or more objects. A computing device generates a set of feature points corresponding to objects in the scene and matches the set of feature points to 3D points in a map of the scene. The computing device generates a dense mesh of the scene and the objects using the matched feature points and transmits the dense mesh the frame to a remote viewing device. The remote viewing device generates a 3D representation of the scene and the objects for display to a user and receives commands from the user corresponding to interaction with the 3D representation of the scene. The remote viewing device transmits the commands to a robot device that executes the commands to perform operations on the objects in the scene.