Patent ID: 9519286
Filing Date: 2016-12-13
CPC Classification: G05D

Claim Text:
1. A method for the teleoperation of robots, stored and executed by a computer platform, comprising the steps of: predicting robot motion from an operator's queued commands to an Operator Control Unit (OCU); creating synthetic images to produce a video feed that looks as if the robot communication link had no delay and no reduced bandwidth; controlling the robot's movement using closed loop; and displaying the synthetic image to an operator creating a 3D model of the environment; accurately controlling the vehicle to the predicted pose; providing an OpenGL based image reconstruction algorithm; providing a command interface to the robot for receiving distance and yaw input commands; dividing the required image processing between the vehicle and the OCU, taking into consideration the video quality and computational assets available; wherein the algorithm is chosen from one of the following for the group comprising: extracting SURF features for every frame; projecting SURF features from the image into the world frame using navigation data and our fish-eye camera model; performing ray intersection checks in 3D to determine if the ray originating at the camera location goes through the feature location in world frame; comparing each feature in the last frame is with every feature in the current frame;