Immersive virtual environment for mobile platform remote operation and exploration

Fournier, Jonathan; Mokhtari, Marielle; Ricard, Benoit

doi:10.1109/rose.2011.6058534

Cited by 5 publications

(1 citation statement)

References 8 publications

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“…The combination of VR technology and telepresence robotics also enables the user to control a robot in an immersive environment [10,[33][34][35][36][37]. Peppoloni et al [38] proposed a robot operating system (ROS) integration framework in which the user controls the motion of a remote robot arm through a wearable device and is provided with 3D visual feedback on the robotic action scene through a Kinect camera and HMD.…”

Section: Movable Telepresence Robots (Mtrs)mentioning

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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