Abstract
In robotic teleoperation, an operator usually needs to be trained for long hours. One of the factors leading to this steep learning curve is the quality of telepresence. This letter proposes a novel and user-friendly telepresence interface for manipulation. Visual information from different views is merged and presented to the operator in an intuitive way to facilitate the task based on state-of-the-art virtual reality technology. Besides rendering the scene, a virtual robot is also rendered in the immersive view so that the robot is visible even when it is occluded. We performed a series of user studies to evaluate this interface. The results show that the proposed interface can achieve a better task performance compared to a standard approach in both the manipulation efficiency and the users' preferences.
Highlights
Building a fully autonomous robot has long been one of the goals of robotics research
A typical teleoperation system is comprised of a leader device, controlled by the human operator, and a follower device, which is the remote robot (Fig. 1(a) and (b))i
To work with the Point Cloud Projection (PCP), we have developed a Point Cloud Inspection mode (PCI)
Summary
Building a fully autonomous robot has long been one of the goals of robotics research. Rendered to the user through a Virtual Reality (VR) interface, the rich sense of depth and color has been shown to improve operation efficiency in various studies [4], [15] The downside of this approach is the huge bandwidth required to transmit multiple point clouds, as well as the high computational cost to merge them, resulting in poor real-time performance that impairs the user experience. The main contributions of this paper are listed as follows: 1) We proposed a lightweight multi-view merging approach to render multiple viewpoints Using this approach, the operator can manipulate with a natural viewpoint and can “see through” the occlusions.
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