Game Development Reference
In-Depth Information
Robot control
Control unit of
the robot
Control lever of the
robot manipulator
Polhemus Data
Figure 13.10 Stereoscopic teleoperation and telepresence device
Two neighbouring planes at the level of the display, observed at the same time,
should not have a big difference in depth.
Stereoscopic images should be less stretched or flattened in depth.
To theoretically determine the feasible solutions for acquisition of three-dimensional
images with variation in focal lengths f (zoom of 16 to 48mm) in a limited space of
0.5m to 2.5m, we will take into account the previous psychophysical constraints. The
hypotheses for this study are as follows: Observation is done by an operator, who is
situated at an optimum distance D o
80 cm from the screen. He should be able to
work for long in stereoscopic vision without exaggerated fatigue caused by this type
of vision. As we have mentioned, a shot can be taken using cameras with parallel
optical axes with software lag between the two images or with optical axes converging
towards the main object.
Formulation of constraints in case of parallel optical axes
Constraint C2 : to avoid flattening or stretching the image depth, it is necessary that
the depth distortion
d 0 /fM
where M is the enlargement of images of the screen with respect to those of CCD
( M
36 in our case). So, for an accurate distance from the observer to the screen,
there is only one focal length value of the cameras where the vision is undistorted
(orthostereoscopic vision). But it is estimated that ρ can vary between 0.7 and 1.4
without disrupting and straining the vision too much. In these conditions, we choose
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