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In this paper, a master manipulator control system in a master-slave robot which uses trinocular stereo vision is presented. The system utilizes three real-time cameras to identify and track the movements of the master handle, while also measuring the master handle position. The system follows a basic four step process. First, within the image the master handle is identified using the contrast between the handle and the background. Second, the speed and direction of the master handle’s next position is predicted in real-time by using the Kalman filter. Third, the position of the master handle is measured in real time using stereo matching, which utilizes a gray area matching technique to consistently identify the proper, unique image and eliminate spurious matching. This study concludes with the experimental results that demonstrate the feasibility of the master manipulator control system.

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