Virtual Environment Interfaces to Physical Environments: A Tool for Cooperative Research in Experimental Robotics

其目标是开发一个计算机系统，以支持地理上分离的研究人员进行机器人合作实验研究。该系统在智能规划者的控制下使用视觉技术来获取实验发生的物理环境的视觉模型（结合3-D数据和纹理图）。 它沿着单独选择的视角在研究人员的图形工作站上提供实验的实时图形渲染。 因此，每个研究人员都能够使用他/她自己的可控虚拟相机观察实验。 最初的探索将集中在一个主要组成部分的设想系统，自动构建一个实验机器人网站的三维模型。 这将被用来分析基本问题，也将在设想的系统的其他组件中遇到的，特别是不确定性对用户和远程实验站点之间的互动的影响。 这是R.宾夕法尼亚大学GRASP实验室的Bajcsy和J.C. 斯坦福大学的Latombe。

The goal is to develop a computer system to support geographically separated researchers performing cooperative experimental research in robotics. This system uses vision techniques under the control of smart planners to acquire a visual model (combining 3-D data and texture maps) of the physical environment where the experiment takes place. It provides real-time graphic renderings of the experiments on the researchers' graphic workstations along individually selected viewpoints. Hence, each researcher is able to OBSERVE the experiments using his/her own controllable virtual camera. The initial exploration will focus on one major component of the envisioned system, the automatic construction of a 3-D model of an experimental robotic site. This will be used to analyze basic issues that will also be encountered in the other components of the envisioned system, in particular the effect of uncertainty on the interaction between a user and a remote experimental site. This is a collaborative effort between R. Bajcsy of the GRASP laboratory at the University of Pennsylvania and J. C. Latombe at Stanford University.