设计了基于移动机器人的远程现实系统,辅助机器人遥操作。为提高人机交互能力,把增强现实技术应用到远程现实当中,根据增强现实中三维注册的原理,推导了双曲面全景成像中基于视觉的注册算法,实现了三维虚拟机器人在全景图像中的注册定位。为了提供更加直观的人机交互界面,采用一种快速算法把圆形全景图进行近似的柱面展开,并将"增强远程现实"应用于展开的图像界面中。实验结果表明,增强远程现实改善了场景的视觉感官效果、增加了辅助信息、提高了人机交互能力。

Remote Reality (RR) System was designed based on Mobile Robot, which was used for robot teleoperation assistance. In order to improve human-machine interaction, Augmented Reality (AR) was introduced to the remote reality system. According to the principle of 3D registration of AR, a vision-based registration method used in hyperboloidal catadioptric omnidirectional imaging system was educed, which realized the registration of 3D virtual robot in omnidirectional image. Then Augmented Remote Reality (ARR) was used in the perspective interface unwrapped from circular omnidirectional image with a fast approximate algorithm. The experimental results show that the ARR improves visual effects and has annotation-based assistance information to enhance the capacity of human-machine interaction.