A Multiple Level-of-Detail 3D Data Transmission Approach for Low-Latency Remote Visualisation in Teleoperation Tasks

Abstract

In robotic teleoperation, the knowledge of the state of the remote environment in real time is paramount. Advances in the development of highly accurate 3D cameras able to provide high-quality point clouds appear to be a feasible solution for generating live, up-to-date virtual environments. Unfortunately, the exceptional accuracy and high density of these data represent a burden for communications requiring a large bandwidth affecting setups where the local and remote systems are particularly geographically distant. This paper presents a multiple level-of-detail (LoD) compression strategy for 3D data based on tree-like codification structures capable of compressing a single data frame at multiple resolutions using dynamically configured parameters. The level of compression (resolution) of objects is prioritised based on: (i) placement on the scene; and (ii) the type of object. For the former, classical point cloud fitting and segmentation techniques are implemented; for the latter, user-defined prioritisation is considered. The results obtained are compared using a single LoD (whole-scene) compression technique previously proposed by the authors. Results showed a considerable improvement to the transmitted data size and updated frame rate while maintaining low distortion after decompression.

Diseño y Control de Sistemas Mecatrónicos

“…Un sistema de teleoperación típico está compuesto por tres secciones, la primera consiste en un sistema local que tiene un operador y la interfaz, la segunda sección es el canal de comunicación por ejemplo la internet y la última sección corresponde al remoto que está compuesto por un robot, un sistema de visión y un ambiente de trabajo (Pacheco-Gutierrez et al, 2021), como se muestra. en la Figura 1.1.…”

Digital Mock-Ups for Nuclear Decommissioning: A Survey on Existing Simulation Tools for Industry Applications

“…Remote handling operations involve the use of manipulators in mobile and glove box scenarios (Lopez et al [23]). The JET fusion reactor uses MASCOT (Skilton et al [24]), consisting of two 7 degree-of-freedom tele-manipulators for routine inspection and maintenance tasks. MASCOT is mounted On the articulated boom of a telescoping arm (the TARM Burroughes et al [25]), which allows it to be moved around the fusion vessel without impacting the sides.…”

An Investigation of the Network Characteristics and Requirements of 3D Environmental Digital Twins for Inspection Robots

“…In their study, they calculated an average round trip time of 18.6540 ± 23.7870 ms for a simultaneous localisation and mapping (SLAM) process of a robot digital twin. Pacheco-Gutierrez et al [6] were able to implement a multiple level-of-detail compression strategy for point cloud data to enable low-latency transmission in a teleoperated robot manipulator digital and physical twin scenario. In a similar study, Aarizou and Berrached [7] reduced 80% of bandwidth consumption and 60% of the transmission time by implementing a discarding strategy for redundant robotic manipulator transforms.…”