Merging virtual objects with the real world: seeing ultrasound imagery within the patient
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Human engineering in stereoscopic viewing devices
Human engineering in stereoscopic viewing devices
Sewage pipe image segmentation using a neural based architecture
Pattern Recognition Letters - Special issue on neural networks for computer vision applications
Collaborative gaming in augmented reality
VRST '98 Proceedings of the ACM symposium on Virtual reality software and technology
Augmented reality for construction tasks: doorlock assembly
IWAR '98 Proceedings of the international workshop on Augmented reality : placing artificial objects in real scenes: placing artificial objects in real scenes
ISWC '97 Proceedings of the 1st IEEE International Symposium on Wearable Computers
ISWC '01 Proceedings of the 5th IEEE International Symposium on Wearable Computers
Human Factors Issues in Virtual Environments: A Review of the Literature
Presence: Teleoperators and Virtual Environments
Towards a Usable Stereoscopic Augmented Reality Interface for the Manipulation of Virtual Cursors
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Handling time delay of sensor data processing in a model based remote operation environment
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
A robust approach for automatic detection and segmentation of cracks in underground pipeline images
Image and Vision Computing
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The three-dimensional characterization and mapping of remote environments is an important task that generates a good deal of attention both by end users and by researchers across several fields of interest. In the mobile robotics community, a great deal of work has been done in equipping vehicles with sensors that can acquire three-dimensional and even multimodal information about the location and nature of features and objects in remote environments. However, the interpretation of such data using fully autonomous methods, such as computer vision, is usually a highly complex problem that, we believe, is much better suited to a human-oriented solution.In this paper, we describe our work in the development of augmented reality (AR) techniques for the telerobotic inspection and characterization of remote environments we describe how we are using stereoscopic camera feedback from a remote vehicle and equipping the human operator with three-dimensional virtual cursors that can be used to interactively measure and model real features and objects in the remote environment. We include a description of the calibration technicues used to correctly align the real and virtual images both statically and under vehicle and camera motion. We also describe how we are using our system to demonstrate the potential of AR for improving the inspection of underground sewer pipes.