Evaluating Stereoscopic Video with Head Tracking for Immersive Teleoperation of Mobile Telepresence Robots

Kratz, Sven; Vaughan, Jim; Mizutani, Ryota; Kimber, Don

doi:10.1145/2701973.2701982

Cited by 13 publications

(5 citation statements)

References 7 publications

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“…This was generally indicated by statements that participants "had never interacted with our robots before" [190]. Finally, 35 studies explicitly mentioned participants who had specific expertise as roboticists alongside non-experts, e.g., [191,192], and often as the primary target group, e.g., [193][194][195][196]. Only six studies reported purposefully excluding those with robotics expertise [197][198][199][200][201].…”

Section: Domain Expertisementioning

confidence: 99%

Not Only WEIRD but “Uncanny”? A Systematic Review of Diversity in Human–Robot Interaction Research

Seaborn

Barbareschi

Chandra

2023

Int J of Soc Robotics

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Critical voices within and beyond the scientific community have pointed to a grave matter of concern regarding who is included in research and who is not. Subsequent investigations have revealed an extensive form of sampling bias across a broad range of disciplines that conduct human subjects research called “WEIRD”: Western, Educated, Industrial, Rich, and Democratic. Recent work has indicated that this pattern exists within human–computer interaction (HCI) research, as well. How then does human–robot interaction (HRI) fare? And could there be other patterns of sampling bias at play, perhaps those especially relevant to this field of study? We conducted a systematic review of the premier ACM/IEEE International Conference on Human-Robot Interaction (2006–2022) to discover whether and how WEIRD HRI research is. Importantly, we expanded our purview to other factors of representation highlighted by critical work on inclusion and intersectionality as potentially underreported, overlooked, and even marginalized factors of human diversity. Findings from 827 studies across 749 papers confirm that participants in HRI research also tend to be drawn from WEIRD populations. Moreover, we find evidence of limited, obscured, and possible misrepresentation in participant sampling and reporting along key axes of diversity: sex and gender, race and ethnicity, age, sexuality and family configuration, disability, body type, ideology, and domain expertise. We discuss methodological and ethical implications for recruitment, analysis, and reporting, as well as the significance for HRI as a base of knowledge.

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Section: Domain Expertisementioning

confidence: 99%

Not Only WEIRD but “Uncanny”? A Systematic Review of Diversity in Human–Robot Interaction Research

Seaborn

Barbareschi

Chandra

2023

Int J of Soc Robotics

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“…In immersive virtual reality environments, remote users typically use HMDs to observe the local environment. Kratz et al [7,42] evaluated the use of a head-mounted device with tracking for remote collaboration in robotic telepresence and concluded that the use of an HMD to control the local view reduced task error rates and improved perceived collaboration success and view quality. Martins et al [8,43] used a head-mounted display on a control alternative search-and-rescue (SAR) robot, whereby the operator was able to perceive a three-dimensional-corrected image of the robot world transmitted by a pair of stereo cameras on the robot.…”

Section: Movable Telepresence Robots (Mtrs)mentioning

confidence: 99%

“…In traditional mixed-reality remote collaboration, the video capture device is typically placed in a fixed position in the local environment [4] or on a local user's HMD [5], providing a fixed perspective or the local user's first-person view of the local environment, and remote users cannot actively and freely switch views. In recent research on remote presentations, researchers have mainly deployed video capture devices on wheeled robots [6][7][8] or drones [9,10], allowing remote users to move the viewing perspective by operating these devices. However, these systems have limitations in terms of control freedom and accuracy, which prevent remote users from freely and accurately observing the local environment.…”

Section: Introductionmentioning

confidence: 99%

Viewpoint-Controllable Telepresence: A Robotic-Arm-Based Mixed-Reality Telecollaboration System

Luo

Weng

Hao

et al. 2023

Sensors

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In mixed-reality (MR) telecollaboration, the local environment is remotely presented to a remote user wearing a virtual reality (VR) head-mounted display (HMD) via a video capture device. However, remote users frequently face challenges in naturally and actively manipulating their viewpoints. In this paper, we propose a telepresence system with viewpoint control, which involves a robotic arm equipped with a stereo camera in the local environment. This system enables remote users to actively and flexibly observe the local environment by moving their heads to manipulate the robotic arm. Additionally, to solve the problem of the limited field of view of the stereo camera and limited movement range of the robotic arm, we propose a 3D reconstruction method combined with a stereo video field-of-view enhancement technique to guide remote users to move within the movement range of the robotic arm and provide them with a larger range of local environment perception. Finally, a mixed-reality telecollaboration prototype was built, and two user studies were conducted to evaluate the overall system. User study A evaluated the interaction efficiency, system usability, workload, copresence, and user satisfaction of our system from the remote user’s perspective, and the results showed that our system can effectively improve the interaction efficiency while achieving a better user experience than two traditional view-sharing techniques based on 360 video and based on the local user’s first-person view. User study B evaluated our MR telecollaboration system prototype from both the remote-user side and the local-user side as a whole, providing directions and suggestions for the subsequent design and improvement of our mixed-reality telecollaboration system.

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“…However, regular remote presence robots and consumer telepresence robots project their camera vision through a video feed on a twodimensional screen. As depth perception is essential in most operations, the lack of a stereoscopic display will hamper a robot operator's judgement about distance, when in turn might lead to unwanted collisions due to misestimations of the surrounding [5][6] [11].…”

Section: Introductionmentioning

confidence: 99%

International Journal of Electronics and Telecommunications

Wee

Wahid

2021

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Evaluating Stereoscopic Video with Head Tracking for Immersive Teleoperation of Mobile Telepresence Robots

Cited by 13 publications

References 7 publications

Not Only WEIRD but “Uncanny”? A Systematic Review of Diversity in Human–Robot Interaction Research

Not Only WEIRD but “Uncanny”? A Systematic Review of Diversity in Human–Robot Interaction Research

Viewpoint-Controllable Telepresence: A Robotic-Arm-Based Mixed-Reality Telecollaboration System

International Journal of Electronics and Telecommunications

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