INTERACTIVE BUILDING AND UPDATING OF A 3D DATABASE FOR TELEOPERATION

The paper deals with the modelling of unknown objects and location det ermination of known ones. The operator models objects using data issue d from the video image and a time of flight infra red range finder. We present methods to build an embodying volume for unknown objects. The se methods are available for polyhedral and conical objects, which rep resent the basis of most industrial environments. The location determi nation of known objects is determined using 2D clues obtained through video image. A two-step algorithm is implemented and assessed. The fir st step is available in case of object large motion, it is a geometric algorithm, which doesn't use redundant data; it provides a first esti mate of the pose. The second step is available in case of object small motion. A linear approach is carried out to determine the pose. It al lows the use of redundant data, so it improves the accuracy achieved a fter the first step.