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Excellent teleoperation provides the human operator with a sense of telepresence, mainly including real-world vision, haptic perception, etc. This paper presents a novel virtual environment building method using the red\u2013green\u2013blue (RGB) colour information, the surface normal feature-based 3D-point-cloud registration method and the weighted sliding-average least-square-method-based real-world dynamic modelling for teleoperation. The experiments prove the method to be an accurate and effective means of teleoperation.<\/jats:p>","DOI":"10.1017\/s0263574716000631","type":"journal-article","created":{"date-parts":[[2016,9,9]],"date-time":"2016-09-09T07:36:41Z","timestamp":1473406601000},"page":"1958-1974","source":"Crossref","is-referenced-by-count":6,"title":["3D-point-cloud registration and real-world dynamic modelling-based virtual environment building method for teleoperation"],"prefix":"10.1017","volume":"35","author":[{"given":"Dejing","family":"Ni","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aiguo","family":"Song","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaonong","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huijun","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chengcheng","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Zeng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2016,9,9]]},"reference":[{"key":"S0263574716000631_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.3086030"},{"key":"S0263574716000631_ref14","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21568"},{"key":"S0263574716000631_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.08.005"},{"key":"S0263574716000631_ref17","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21614"},{"key":"S0263574716000631_ref10","doi-asserted-by":"publisher","DOI":"10.1163\/156855301750095550"},{"key":"S0263574716000631_ref6","doi-asserted-by":"crossref","unstructured":"A. K. Bejczy , W. S. Kim and S. C. Venema , \u201cThe Phantom Robot: Predictive Displays for Teleoperation with Time Delay,\u201d Proceedings of IEEE Int. Conf. on Robotics and Automation, Cincinnati, America (May 13\u201318, 1990) pp. 546\u2013551.","DOI":"10.1109\/ROBOT.1990.126037"},{"key":"S0263574716000631_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"S0263574716000631_ref8","doi-asserted-by":"crossref","unstructured":"J. H. Park and T. B. 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Bejczy , \u201cGraphics Displays for Operator Aid in Telemanipulation,\u201d In: Title of Decision Aiding for Complex Systems, Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Charlottesville, America (Oct. 13\u201316, 1991) pp. 1059\u20131067.","DOI":"10.1109\/ICSMC.1991.169828"},{"key":"S0263574716000631_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084590"},{"key":"S0263574716000631_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(01)00164-6"},{"key":"S0263574716000631_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2014.2323139"},{"key":"S0263574716000631_ref32","doi-asserted-by":"crossref","first-page":"1227","DOI":"10.1109\/TIE.2007.893072","article-title":"Virtual-environment modelling and correction for force-reflecting teleoperation with time delay","volume":"54","author":"Li","year":"2007","journal-title":"IEEE Trans. Ind. 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