Single RGB-D Camera Teleoperation for General Robotic Manipulation

Quan Vuong, Yuzhe Qin, Runlin Guo, Xiaolong Wang, Hao Su, Henrik Christensen

University of California San Diego

In this paper, our contributions are:

• A teleoperation system for manipulation which uses a single RGB-D device for motion capture.

• Novel application of non-Cartesian oblique coordinate frame to define the operator frame, dynamic motion scaling, and repositioning of operator frame.

• Demonstration that our system can successfully accomplish complex manipulation tasks.

Single RGB-D Camera to capture human motion

Single RGB Camera to capture human motion (no depth sensing)