Abstract: Real-time video presentations are provided in the field of operator-supervised automation and teleoperation, particularly in control stations having movable cameras for optimal viewing of a region of interest in robotics and teleoperations for performing different types of tasks. Movable monitors to match the corresponding camera orientations (pan, tilt and roll) are provided in order to match the coordinate systems of all the monitors to the operator internal coordinate system. Automated control of the arrangement of cameras and monitors, and of the configuration of system parameters, is provided for optimal viewing and performance of each type of task for each operator since operators have different individual characteristics. The optimal viewing arrangement and system parameter configuration is determined and stored for each operator in performing each of many types of tasks in order to aid the automation of setting up optimal arrangements and configurations for successive tasks in real time.

Abstract: A system for real-time video image display for robotics or remote-vehicle teleoperation having at least one robot arm or remotely operated vehicle controlled by an operator through hand-controllers, and one or more television cameras and optional lighting elements. The system has at least one television monitor for display of a television image from a selected one of the cameras and the ability to select one of the cameras for image display.

Abstract: Methods for providing stereoscopic image presentation and stereoscopic configurations using stereoscopic viewing systems having converged or parallel cameras may be set up to reduce or eliminate erroneously perceived accelerations and decelerations by proper selection of parameters, such as an image magnification factor q and intercamera distance 2w. For converged cameras, q is selected to be equal to Ve-qwl=0, where V is the camera convergence distance, e is half the interocular distance of an observer, w is half the intercamera distance and l is the actual distance from said first nodal point of each camera to said convergence point, and for parallel cameras, q is selected to be equal to e/w.

Abstract: A method and apparatus for obtaining a stereo image with reduced depth distortion and optimum depth resolution. Static and dynamic depth distortion and depth resolution trade-off is provided. Cameras obtaining the images for a stereo view are converged at a convergence point behind the object to be presented in the image, and (a) the collection-surface-to-object distance, (b) the camera separation distance, and (c) the focal lengths of zoom lenses for the cameras are all increased. Doubling the distances cuts the static depth distortion in half while maintaining image size and depth resolution. Dynamic depth distortion is minimized by panning a stereo view-collecting camera system about a circle which passes through the convergence point and the cameras' first nodal points. Horizontal field shifting of the television fields on a television monitor brings both the monitor and the stereo views within the viewer's limit of binocular fusion.