A calibration method of matching a virtual environment of graphics models in 3-D geometry and perspective view with actual camera view of the remote site task environment has been developed to enable predictive displays with calibrated graphics overlaying on live video. This method will enable high fidelity preview/predictive displays with calibrated graphics overlaying on live video, providing an effective graphical operator interface for telerobotics. In this thesis, a sophisticated flexible operator interface in the calibration procedure is developed for the efficiency of teleoperation. In the camera calibration, a calibration chart is used for finding the camera intrinsic parameters. i.e, center of image, scale factor, lens distortion coefficient. With the camera calibration result, we can match the virtual environment with the actual remote site task environment. Furthermore, even though there is a little deviation between the virtual environment and the actual environment, we can find the amount of deviation and determine the pose of the actual environment and then update the database of remote site task environment. This enables us to analyze and plan the off-line task only with the graphics simulation in telerobotics and gives us more accurate visual information for the remote environment.
