The work carried out by the University of Catania is in the framework of the project "Safe and Smart Farming with Artificial Intelligence and Robotics-programma ricerca di ateneo UNICT 2020-22 linea 2" ABSTRACT Mobile robotic systems have evolved to include sensors capable of truthfully describing robot status and operating environment as accurately and reliably as never before. This possibility is challenged by effective sensor data exploitation, because of the cognitive load an operator is exposed to, due to the large amount of data and time-dependency constraints. This paper addresses this challenge in remote-vehicle teleoperation by proposing an intuitive way to present sensor data to users by means of using mixed reality and visual aids within the user interface. We propose a method for organizing information presentation and a set of visual aids to facilitate visual communication of data in teleoperation control panels. The resulting sensor-information presentation appears coherent and intuitive, making it easier for an operator to catch and comprehend information meaning. This increases situational awareness and speeds up decision-making. Our method is implemented on a real mobile robotic system operating outdoor equipped with on-board internal and external sensors, GPS, and a reconstructed 3D graphical model provided by an assistant drone. Experimentation verified feasibility while intuitive and comprehensive visual communication was confirmed through an assessment, which encourages further developments.

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Crime scene investigation is a multidisciplinary response that involves the identification and securing of physical and trace material that may have evidential value. In this context, accurate documentation of the scene(s) is fundamental, when subsequent analysis is required for comparison and evaluative purposes.This technical note reports a virtual reality framework developed in Unity 3D targeting a low-cost Virtual Reality (VR) head-mounted display (HMD), which enables the exploration of virtualized crime scenes and supports collaborative investigation through an online shared repository of 3D reconstructions. The system is agnostic at the source, implying that several types of 3D imaging sensors can provide recording of the scenes. Data are presented via an immersive virtualroaming VR application to enhance spatial perception and telepresence. The virtualized environment is accompanied by original photographs and reference information, enabling validation and contextualization of the three-dimensional spatial data. The developed framework was employed in the context of a training operation spread between Scotland, UK and Denmark, demonstrating the feasibility of the deployment of the platform independent of location at the early stages of a forensic investigation.