Man-machine stereo-TV computer vision system for non-contact measurement

The structural description of the scene and/or the geometrical performances of the scene objects are insufficient for many tasks of robot control. The complexity of natural scenes as well as the great variety of tasks makes the human operator indispensable for images interpretation. His responsibility lies in indicating the interesting regions (objects) and in helping to establish a good hypothesis about the location of the object in the case of difficult identifying situations. The man-machine computer vision stereo-measurement system (CVMS) allows to create the systems for navigation and control by mobile and manipulating teleoperated robots in a new fashion to make them more adaptive to changes of the external conditions. This paper gives a description of CVMS for non-contact measurements. 3D coordinates of object points are defined after ones indicating by mouse of the human operator. by indicating with mouse. The measuring points are indicated in monocular image, therefore specified glasses are not required for stereo scope. The system baseline may be increased as compared with distance between human eyes, then measurement accuracy may be also increased. The CVMS contains the one or two TV-cameras and personal computer equipped by input/output board of images. The system breadboard was tested on remote control transport robot.