Virtual-actual space alignment based on salient color features in VR aided tele-operation system

A dynamic calibration method is developed for virtual-actual space alignment in VR aided tele-operation systems. During model building natural or man-made salient color features in the actual environment are picked out and marked on the environment model. During tele-operation, if the co or camera mounted on the tele-operation platform sees some of the modeled color features, the platform orientation can be determined from a single camera view. Correspondence between detected features and model ed features is based on the color attributes and the geometr ic relationships between them. Finally, a simple closed form location calculation for a 4DOF moving camera is given based on the locations of the three feature points.