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

• Published in: 2009 4th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 37 - 44
• Main Authors: Ferland, François, Pomerleau, François, Le Dinh, Chon Tam, Michaud, François
• Format: Conference Proceeding
• Language: English
• Published: New York, NY, USA ACM 09.03.2009; IEEE
• Series: ACM Conferences
• Subjects: Abstracts; avatars; Enabling technologies; Feedback modalities; Human-centered computing > Human computer interaction (HCI) > Interaction devices; Human-centered computing > Human computer interaction (HCI) > Interaction devices > Touch screens; Human-centered computing > Human computer interaction (HCI) > Interaction paradigms > Graphical user interfaces; Human-centered computing > Interaction design; Human-Robot Interaction (HRI); Interface design and usability; Lasers; proxies; Robot in-termediaries (e.g; Situation Awareness (SA); telepresence; interface design and usability; robot intermediaries (e.g; human-robot interaction (HRI); telepresence; proxies; situation awareness (SA); enabling technologies; feedback modalities; avatars
• ISBN: 1605584045; 9781605584041
• ISSN: 2167-2121
• DOI: 10.1145/1514095.1514105

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.