METHODS FOR UPDATING THE ENVIRONMENTS GEOMETRIC DATABASE IN TELEROBOTICS

The paper deals with tools a human operator (HO) can use to complete, on-line, the 3D geometric database of the remote environment, even in case of bad condition of vision. The HO provides the system with the 3 D geometric primitive of the object's model and the 2D data from the v ideo image. The sensing system: a monocular video camera and a time of flight IR range finder, provides the system with figures relating to the 3D primitives (location, pose, size). Methods for location and pos e determination of known objects and for modelling of unknown ones are presented and assessed. These methods are available for polyhedral an d cylinder shaped objects, which represent the bases of most of indust rial environments.