Man Machine Interactive Imaging and Data Processing Using High Speed Digital Mass Storage

Abstract

The role of vision in teleoperation has been recognized as an important element in the man-machine control loop. In most applications of remote manipulation, direct vision cannot be used. To overcome this handicap, the human operator's control capabilities are augmented by a “tele”-vision system. This medium provides a practical and useful link between workspace and the control station from which the operator performs his tasks. The function of the video system is to reproduce the original scenes in pictorial form. Systematic errors in terms of photometry, resolution, geometry and perhaps color can be removed by decalibration procedures. Human performance deteriorates when the images are degraded as a result of instrumental and transmission limitations. Recovering images from various degradation effects is commonly referred to as restoration. Image enhancement is used to bring out selected qualities in a picture to increase the perception of the observer. At the Image Processing Laboratory (IPL) of JPL, we employ a general purpose digital computer (IBM 360/44) utilizing an extensive special purpose software system (VICAR) to perform an almost unlimited repertoire of processing operations. This approach has proven to be most flexible, versatile and suitable for experimental work. Guided by the experience of the IPL and the recent advances in LSI technology, we are reporting on special hardwired algorithms which have speeded up the processing by several orders of magnitude. Although quantum limited imaging was made possible by noise removal and contrast enhancement as part of a development in electron microscopy, these methods and experiences are transferrable to other teleoperator applications. The processing and enhancement of images are controlled by the operator/scientist matching his perceptual needs to optimally adjust the instrument. Central to the near real time image processing is a high speed digital solid state mass memory operating at input/output speeds compatible with standard TV rates. Thus, the operator, as the most important link in the loop, is provided with a real time interactive display which enables him to perceive the remote workspace as required to execute remote manipulation tasks.