Creation and animation of computer-generated images combined with a camera and smart graphics card

Malik Mallem (1, 2) , Etienne Colle (2) , Florent Chavand (1)

1 IIE-CNAM - Institut d’Informatique d’Entreprise
2 LRE - Laboratoire de Robotique d'Evry

The system described is used in teleoperated robotics to give the human operator a visual aid for the perception of the remote scene when indirect viewing using a video camera. The system enables graphic aids to be super-imposed on the video image. These visual enhancements are based on a 3-D reconstruction of the imaged scene. The computer-generated image of moving objects is animated in real time using sensor data feedback, issued from the task site, measuring the displacements of these objects. Matching of the video and computer-generated images is carried out. The hardware structure consists of VME bus modules. It is a multiprocessor device comprising a master CPU, a data acquisition card and a slave CPU with smart graphics card allowing analogue mixing of the computer-generated and video images. It is a work-oriented graphics card, configured according to the application's specifications.

Mots clés: Image generation; Teleoperation; Graphics; VME bus

Domaines: Automatique / Robotique; Micro et nanotechnologies/Microélectronique; Traitement du signal et de l'image [eess.SP]

Malik Mallem, Etienne Colle, Florent Chavand. Creation and animation of computer-generated images combined with a camera and smart graphics card. Microprocessors and Microsystems: Embedded Hardware Design , 1991, 15 (8), pp.427-433. ⟨10.1016/0141-9331(91)90148-9⟩. ⟨hal-03241223⟩