Virtual environments for internet-based robots—I: modeling a dynamic environment

In the context of using virtual environments (VEs) in Internetbased teleoperation, this paper addresses the issue of parameter acquisition for single-image-based modeling of VEs. By studying the properties of basic three-dimensional features such as point sets and edge corners, a parameter-searching method was developed
that employs virtual objects as feature-matching templates. This approach is particularly valuable if the environment is subject to unpredictable change.