Patent ID: 7802193

Claim:
A Human Machine Interface (HMI) for directing motion of an element relative to an object in a 3D environment using a graphical interface, the HMI comprising: a display operatively configured to display the object in a first image observed from a first viewpoint and a second image observed from a second viewpoint, the first and second viewpoints having know coordinates within a coordinate system of the 3D environment; an input device operatively configured to: select a geometric entity based upon a desired interaction of the element with the object, the geometric entity selected from the group consisting of a point, a line and a plane; and, establish a number of icons at locations in the first image, the number of the icons determined by the geometric entity selected, the icons delineating the geometric entity as viewed in the first image, the locations of the icons in the first image corresponding to the object as viewed in the first image; and, a processor coupled to the display and the input device, the processor operatively configured to: calculate for the second image, projections of the locations of the icons in the first image, the projection of each location of an icon in the first image comprising an epipolar line in the second image; generate the first image having the icons placed at their respective locations in the first image and, generate the second image having the icons placed at their respective locations in the second image thereby delineating the geometric entity in the second image; and, determine a constraint, whereby the respective locations of icons in the second image are constrained to exist along their respective epipolar lines and, wherein movement of an icon along its corresponding epipolar line in the second image, does not change the location of the icon as viewed in the first image.