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

Jiacheng Tan, Gordon J. Clapworthy

Research output: Contribution to journalArticlepeer-review


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.
Original languageEnglish
Pages (from-to)383-388
JournalProceedings of the IEEE
Issue number3
Publication statusPublished - 1 Mar 2003


  • Computer graphics
  • image analysis
  • telerobotics


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