A Photorealistic Predictive Display

Burkert, Tim; Leupold, Jan; Passig, Georg

doi:10.1162/105474604774048216

Cited by 27 publications

(14 citation statements)

References 18 publications

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“…Integration of Video and 3D imagery has been considered in applications such as predictive teleoperation [4]. Our problem is different in that it requires comparing the synthetic and real imagery to look for differences between actual and predicted object behaviors.…”

Section: Literature Reviewmentioning

confidence: 99%

Synchronizing real and predicted synthetic video imagery for localization of a robot to a 3D environment

Lyons

Chaudhry

Benjamin

2010

Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques

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A mobile robot moving in an environment in which there are other moving objects and active agents, some of which may represent threats and some of which may represent collaborators, needs to be able to reason about the potential future behaviors of those objects and agents. In previous work, we presented an approach to tracking targets with complex behavior, leveraging a 3D simulation engine to generate predicted imagery and comparing that against real imagery. We introduced an approach to compare real and simulated imagery using an affine image transformation that maps the real scene to the synthetic scene in a robust fashion.In this paper, we present an approach to continually synchronize the real and synthetic video by mapping the affine transformation yielded by the real/synthetic image comparison to a new pose for the synthetic camera. We show a series of results for pairs of real and synthetic scenes containing objects including similar and different scenes.

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Section: Literature Reviewmentioning

confidence: 99%

Synchronizing real and predicted synthetic video imagery for localization of a robot to a 3D environment

Lyons

Chaudhry

Benjamin

2010

Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques

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“…Prediction based techniques have been used to feed back predicted movements of head (Akatsuka and Bekey, 1998;Garrett et al, 2002), ownership requirements (Roberts and Sharkey, 1997), and forces (Kim et al, 2004) to users before final results are available. HCI based techniques show some system information to users through predictive display (Burkert et al, 2004;Noyes and Sheridan, 1984) and user interface widgets such as delay gauge, area of uncertainty, past shadow, and ghost ball etc. (Vaghi et al, 1999).…”

Section: Site0mentioning

confidence: 99%

“…The implementation of the echo method in a particular system can be found in Section 2.3.3. To our knowledge, although similar techniques are widely used to relieve the negative effects of the delay caused by network transmission latency (Burkert et al, 2004;Noyes and Sheridan, 1984;Vaghi et al, 1999), echo is the first method proposed to relieve the negative effects of the delay caused by local-lag mechanism.…”

Section: Site0mentioning

confidence: 99%

An HCI method to improve the human performance reduced by local-lag mechanism

Chen

Hong

et al. 2007

Interacting with Computers

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Local-lag mechanism can maintain consistency for replicated continuous applications, but with a tradeoff of adding delay to local operations. To relieve the negative effects of the delay, this paper proposes an HCI method named echo. With the help of the echo method users can immediately perceive the results of their operations and how large the lag is. In order to evaluate the proposed method, a desktop collaborative virtual environment (CVE) system and a virtual object control task were employed to study the effects of the echo method on human performance (including task completion time, error count, and interaction quality). Experimental results indicate that when the lag exceeds 100 ms the echo method can improve human performance with the effects becoming more evident when a larger lag is used.

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“…The idea of the predictive display is to overlay a computer graphics (CG) model of the robot arm on the real video images, which allows the operator to locally view the motion of the slave robot before it actually moves and hence avoid possible collisions. An extension of the predictive display for the prediction of a 3D geometric model of the remote environment is presented in [11]. A stereo camera is employed to capture the remote environment using an offline scanning procedure.…”

Section: Introductionmentioning

confidence: 99%

Point-cloud-based model-mediated teleoperation

Cizmeci

Steinbach

2013

2013 IEEE International Symposium on Haptic Audio Visual Environments and Games (HAVE)

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In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

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A Photorealistic Predictive Display

Cited by 27 publications

References 18 publications

Synchronizing real and predicted synthetic video imagery for localization of a robot to a 3D environment

Synchronizing real and predicted synthetic video imagery for localization of a robot to a 3D environment

An HCI method to improve the human performance reduced by local-lag mechanism

Point-cloud-based model-mediated teleoperation

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