  We present a coarse-to-fine approach based semi-autonomous teleoperation
system using vision guidance. The system is optimized for long range
teleoperation tasks under time-delay network conditions and does not require
prior knowledge of the remote scene. Our system initializes with a self
exploration behavior that senses the remote surroundings through a freely
mounted eye-in-hand web cam. The self exploration stage estimates hand-eye
calibration and provides a telepresence interface via real-time 3D geometric
reconstruction. The human operator is able to specify a visual task through the
interface and a coarse-to-fine controller guides the remote robot enabling our
system to work in high latency networks. Large motions are guided by coarse 3D
estimation, whereas fine motions use image cues (IBVS). Network data
transmission cost is minimized by sending only sparse points and a final image
to the human side. Experiments from Singapore to Canada on multiple tasks were
conducted to show our system's capability to work in long range teleoperation
tasks.
