Immersive 3-D teleoperation of a search and rescue robot using a head-mounted display

Martins, Henrique; Ventura, Rodrigo

doi:10.1109/etfa.2009.5347014

Cited by 59 publications

(36 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Perception of teleoperator's personality is important not only in social interactions but is also crucial where teleoperated robots are used in a service capacity such as for elderly care (Yamazaki et al, 2012), and search and rescue (Martins and Ventura, 2009). In these settings, perception of the operator will effect system utility for carrying out the desired service and achieving the desired outcome.…”

Section: Related Workmentioning

confidence: 99%

Personality Perception of Robot Avatar Teleoperators in Solo and Dyadic Tasks

2017

View full text Add to dashboard Cite

Humanoid robot avatars are a potential new telecommunication tool, whereby a user is remotely represented by a robot that replicates their arm, head, and possible face movements. They have been shown to have a number of benefits over more traditional media such as phones or video calls. However, using a teleoperated humanoid as a communication medium inherently changes the appearance of the operator, and appearance-based stereotypes are used in interpersonal judgments (whether consciously or unconsciously). One such judgment that plays a key role in how people interact is personality. Hence, we have been motivated to investigate if and how using a robot avatar alters the perceived personality of teleoperators. To do so, we carried out two studies where participants performed 3 communication tasks, solo in study one and dyadic in study two, and were recorded on video both with and without robot mediation. Judges recruited using online crowdsourcing services then made personality judgments of the participants in the video clips. We observed that judges were able to make internally consistent trait judgments in both communication conditions. However, judge agreement was affected by robot mediation, although which traits were affected was highly task dependent. Our most important finding was that in dyadic tasks personality trait perception was shifted to incorporate cues relating to the robot's appearance when it was used to communicate. Our findings have important implications for telepresence robot design and personality expression in autonomous robots.

show abstract

Section: Related Workmentioning

confidence: 99%

Personality Perception of Robot Avatar Teleoperators in Solo and Dyadic Tasks

2017

View full text Add to dashboard Cite

show abstract

“…This control scheme is comparatively simple, as it only tracks two axes of rotation of the head, while our techniques makes use of three axes of head rotation and three translation axes. Other work has explored using head mounted displays for controlling robots, such as [8] [9].…”

Section: Related Workmentioning

confidence: 99%

Exploring head tracked head mounted displays for first person robot teleoperation

Pittman

LaViola

2014

Proceedings of the 19th International Conference on Intelligent User Interfaces

View full text Add to dashboard Cite

We explore the capabilities of head tracking combined with head mounted displays (HMD) as an input modality for robot navigation. We use a Parrot AR Drone to test five techniques which include metaphors for plane-like banking control, carlike turning control and virtual reality-inspired translation and rotation schemes which we compare with a more traditional game controller interface. We conducted a user study to observe the effectiveness of each of the interfaces we developed in navigating through a number of archways in an indoor course. We examine a number of qualitative and quantitative metrics to determine performance and preference among each metaphor. Our results show an appreciation for head rotation based controls over other head gesture techniques, with the classic controller being preferred overall. We discuss possible shortcomings with head tracked HMDs as a primary input method as well as propose improved metaphors that alleviate some of these drawbacks.

show abstract

“…b, one of the cameras is positioned on top of the barrier and thus can provide a different view. We therefore conclude that the software compensation approach in [11] is suitable for a single camera, but not for multiple-camera design.…”

Section: Introductionmentioning

confidence: 99%

“…The point of this is to quickly reduce sensory overload during complex situations [1]. Other implementations adopted a 3-D interface, for example, an attempt was made to increase the visual perception in RAPOSA using a 3-D interface [11]. This interface design is based on an HMD equipped with a head tracker; the HMD displays the images from a pair of video cameras located in the UGV frontal body, where the video stream of each camera is displayed to each operator eye.…”

Section: Introductionmentioning

confidence: 99%

Unmanned Ground Vehicle with Virtual Reality Vision

AlKhalil¹,

AbuRhayyem²,

Hammoudeh³

et al. 2018

JJCIT

View full text Add to dashboard Cite

This paper aims to describe the design and implementation of an Unmanned Ground Vehicle (UGV) and a smart phone virtual reality (VR) head mounted display (HMD) which enables visual situation awareness by giving the rescue (USAR) applications (a contemporary research issue in SAR UGV). (iii) a novel feature of the design is the simultaneous video feeds which are sent to the operator station computer for object detection using the scale-invariant feature transform (SIFT) algorithm and 3-D model construction of the UGV's surrounding objects from 2-D images of these objects. The design was realized using a smart phone-based HMD, which captures head movements in real time using its inertial measurement unit (IMU) and transmits it to three motors mounted on a rover to provide the movement about three axes (pitch, yaw and roll). The operator controls the motors via the HMD or a gamepad. Three on-board cameras provide video feeds which are transmitted to the HMD and operator computer. A software performs object detection and builds a 3-D model from the captured 2-D images. The realistic design constraints were identified

show abstract

Immersive 3-D teleoperation of a search and rescue robot using a head-mounted display

Cited by 59 publications

References 18 publications

Personality Perception of Robot Avatar Teleoperators in Solo and Dyadic Tasks

Personality Perception of Robot Avatar Teleoperators in Solo and Dyadic Tasks

Exploring head tracked head mounted displays for first person robot teleoperation

Unmanned Ground Vehicle with Virtual Reality Vision

Contact Info

Product

Resources

About