The aim of the project is the validation of the stereoscopic visual rendering system we built.
Indeed, the visual channel is a good illustration of sensory lacking current tele-operation are suffering from.

Humans perceive the world in three dimensions to understand it and to achieve, for instance, goal oriented motor actions like hand movements for pointing, for manipulating and placing objects or any other activities that need physical interactions.

The 3D or the depth information is derived throughout a weighted integration process of two main classes of active or passive visual cues: the binocular cue (parallax, oculo-motor convergence, etc.) and monocular cue (motion parallax, accommodation, occlusion, relative size, etc.). Namely, cues weights vary within the integration process because they are task dependent: for grasping tasks, it was shown that binocular vision is particularly important for the online control of grasps, i.e., the end of movements, while monocular vision is used to derive initial estimates to plane movements. More globally, other channels (auditory, tactile, kinesthetic, etc.) are combined to the visual one or used as compensations to achieve the previously mentioned tasks.

The experimental setup