The use of 3-D stereoscopic visualization may provide a user with higher comprehension of remote environments in teleoperation when compared with 2-D viewing, in particular, a higher perception of environment depth characteristics, spatial localization, remote ambient layout, faster system learning, and decision performance. Works in the paper have demonstrated how stereo vision contributes to the improvement of the perception of some depth cues, often for abstract tasks, while it is hard to find works addressing stereoscopic visualization in mobile robot teleguide applications. This paper intends to contribute to this aspect by investigating the stereoscopic robot teleguide under different conditions, including typical navigation scenarios and the use of synthetic and real images. This paper also investigates how user performance may vary when employing different display technologies. Results from a set of test trials run on seven virtual reality systems, from laptop to large panorama and from head-mounted display to Cave automatic virtual environment (CAVE), emphasized few aspects that represent a base for further investigations as well as a guide when designing specific systems for telepresence.

The use of 3D stereoscopic visualization may provide a user with higher comprehension of remote environments in teleoperation when compared to 2D viewing. Works in the literature have demonstrated how stereo vision contributes to improve perception of some depth cues often for abstract tasks, while little can be found about the advantages of stereoscopic visualization in mobile robot teleguide applications. This work investigates stereoscopic robot teleguide under different conditions, including typical navigation scenarios and the use of synthetic and real images. This work also investigates how user performance may vary when employing different display technologies. Results from a set of test trials ran on five virtual reality systems emphasized few aspects which represent a base for further investigation as well as a guide when designing specific systems for telepresence.

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