Egocentric and exocentric teleoperation interface using real-time, 3D video projection

ABSTRACT

The user interface is the central element of a telepresence robotic system and its visualization modalities greatly affect the operator's situation awareness, and thus its performance. Depending on the task at hand and the operator's preferences, going from ego- and exocentric viewpoints and improving the depth representation can provide better perspectives of the operation environment. Our system, which combines a 3D reconstruction of the environment using laser range finder readings with two video projection methods, allows the operator to easily switch from ego- to exocentric viewpoints. This paper presents the interface developed and demonstrates its capabilities by having 13 operators teleoperate a mobile robot in a navigation task.

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INDEX TERMS

Primary Classification:
  H. Information Systems
  H.5 INFORMATION INTERFACES AND PRESENTATION (I.7)
      H.5.2 User Interfaces (D.2.2, H.1.2, I.3.6)
          Subjects: Graphical user interfaces (GUI)

Additional Classification:
  H. Information Systems
  H.5 INFORMATION INTERFACES AND PRESENTATION (I.7)
      H.5.2 User Interfaces (D.2.2, H.1.2, I.3.6)
          Subjects: Input devices and strategies (e.g., mouse, touchscreen); Screen design (e.g., text, graphics, color)

General Terms:
Algorithms, Design, Experimentation, Human Factors, Measurement

Keywords:
enabling technologies, feedback modalities, human-robot interaction (HRI), interface design and usability, robot intermediaries (e.g., telepresence, proxies, avatars), situation awareness (SA)