Patent ID: 8731720

Claim:
A controller for a robotic system comprising: video decompression logic configured to decompress video signals received from a plurality of video cameras; lens correction logic configured to correct and remove image distortions from the decompressed video signals received from the video decompression logic; operator view in robot space logic configured to receive signals from a plurality of pose sensors, and generate a first transformation between a robot frame of reference and an operator frame of reference from the signals received from the pose sensors; and image rendering logic configured to render an image from the decompressed and corrected video signals by stitching together the decompressed and corrected video signals to form a composite video signal that maps to a robot view, applying the first transformation to an operator view, different than the robot view, in order to reposition the operator view relative to the robot view, and rendering to the display a portion of the composite video signal that maps to the operator view, wherein applying the first transformation to the operator view serves to steady the portion of the composite video signal rendered to the display.