MAVI: A Research Platform for Telepresence and Teleoperation

Karimi, Mojtaba; Aykut, Tamay; Steinbach, Eckehard

doi:10.48550/arxiv.1805.09447

Cited by 3 publications

(3 citation statements)

References 13 publications

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“…Aykut et al [45,46] proposed a 3D 360 • telepresence system implemented by a mechanically driven stereo vision system, with a head unit to follow the user's head movement. Karimi et al [47,48] designed a telepresence mobile robot platform called MAVI for indoor teleoperation scenarios using a four-wheel drive junction and a stereo vision system, where the user controls the robot in a remote environment, providing a stereo view in all possible directions. Ikei et al [49] proposed an all-around stereo live camera system in which the orientations of two 360 • camera lenses are fixed in world coordinates so that these cameras move with the position of the viewer's eyes.…”

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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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

View full text Add to dashboard Cite

show abstract

“…In comparison to the above-mentioned methods and systems, GHAL360 (ours) leverages 360 • vision to enable the MTR to perceive the entire sphere of the environment. To increase a robot's field of view, researchers have equipped mobile robots with multiple cameras [26], [27], and wide-angle cameras [28], [29]. Recently, researchers have developed MTRs with 360 • vision systems [19], [12].…”

Section: Related Workmentioning

confidence: 99%

Learning to Guide Human Attention on Mobile Telepresence Robots with 360 Vision

Chandan¹,

Albertson²,

Zhang³

et al. 2021

Preprint

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Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 • vision, many MTRs are now equipped with an all-degree visual perception capability. However, people's visual field horizontally spans only about 120 • of the visual field captured by the robot. To bridge this observability gap toward human-MTR shared autonomy, we have developed a framework, called GHAL360, to enable the MTR to learn a goal-oriented policy from reinforcements for guiding human attention using visual indicators. Three telepresence environments were constructed using datasets that are extracted from Matterport3D and collected from a real robot respectively. Experimental results show that GHAL360 outperformed the baselines from the literature in the efficiency of a human-MTR team completing target search tasks. A demo video is available: https://youtu.be/aGbTxCGJSDM

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“…Important contributing factors to this impairment are the often insufficient sensor resolution and Field-of-View (FoV) of common webcams [14], [15]. One of the goals in designing a telepresence robot is to enhance the user experience and control performance by providing visual and auditory information that matches as closely as possible people's natural perception of the world, either by using a camera with a wide angle or mounting it on an articulated element, so as to simulate head movements [16].…”

Section: A Robotic Telepresencementioning

confidence: 99%

An Open-Source Modular Robotic System for Telepresence and Remote Disinfection

Potenza¹,

Kiselev²,

Saffiotti³

et al. 2021

Preprint

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In a pandemic contact between humans needs to be avoided wherever possible. Robots can take over an increasing number of tasks to protect people from being exposed to others. One such task is the disinfection of environments in which infection spread is particularly likely or bears increased risks. It has been shown that UVC light is effective in neutralizing a variety of pathogens, among others the virus causing COVID-19, SARS-CoV-2. Another function which can reduce the need for physical proximity between humans is interaction via telepresence, i.e., the remote embodiment of a person controlling the robot.This work presents a modular mobile robot for telepresence and disinfection with UVC lamps. Both operation modes are supported by adaptable autonomy navigation features for facilitating efficient task execution. The platform's primary contributions are its hardware and software design, which combine consumergrade components and 3D-printed mountings with open-source software frameworks.

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MAVI: A Research Platform for Telepresence and Teleoperation

Cited by 3 publications

References 13 publications

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

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

Learning to Guide Human Attention on Mobile Telepresence Robots with 360 Vision

An Open-Source Modular Robotic System for Telepresence and Remote Disinfection

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