On the Reproduction of Motion Parallax in Videocommunications

Böcker, Martin; Runde, Detlef; Mühlbach, Lothar

doi:10.1177/154193129503900306

Cited by 9 publications

(3 citation statements)

References 9 publications

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“…Stereoscopic visualization is claimed to improve comprehension and appreciation of presented visual input (perception of scene structures and surfaces, object motion, etc. ), and to facilitate human-machine interaction [1,3,4]. Most of the benefits of stereo viewing may improve robot teleguide, however, the users' performance may be challenged by eye strain, double images perception, depth distortion, etc., [10].…”

Section: B Stereoscopic Viewing and Displaysmentioning

confidence: 99%

Depth-enhanced mobile robot teleguide based on laser images

et al. 2010

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Original article can be found at: http://www.sciencedirect.com/ Copyright Elsevier3D stereoscopic visualization may provide a user with higher comprehension of remote environment in teleoperation when compared to 2D viewing. Works in the literature have addressed the contribution of stereo vision to improve perception of some depth cues often for abstract tasks, and it is hard to find contributions specifically addressing mobile robot teleguide. The authors of this paper have investigated stereoscopic viewing in mobile robot teleguide based on video images in a previous work and pointed out advantages of stereo viewing in this type of application as well as shortcomings inherent to the use of visual sensor, e.g. image transmission delay. The proposed investigation aims at testing mobile robot teleguide based on a different sensor: the laser sensor. The use of laser is expected to solve some problems related to visual sensor while maintaining the advantage of having stereoscopic visualization of a remote environment. A usability evaluation is proposed to assess system performance. The evaluation runs under the same setup of the previous study so to have an experimental outcome comparable to the previous one. The evaluation involves several users and two different 3D visualization technologies. The results show a strong improvement in users??? performance when mobile robot teleguide based on laser sensor is (depth-) enhanced by stereo viewing. Some differences are detected between the use of laser and visual sensor which are discussed

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Section: B Stereoscopic Viewing and Displaysmentioning

confidence: 99%

Depth-enhanced mobile robot teleguide based on laser images

et al. 2010

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“…Most of the benefits of stereo viewing may affect the robot teleguide, because stereopsis enhances the perception of relative locations of objects in the observed remote worlds [3], impression of telepresence and of 3-D layout [1], ability to skillfully manipulate a remote environment [4], response time and accuracy when operating in dangerous environments, etc.…”

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confidence: 99%

Mobile robotic teleguide based on video images

Livatino

Muscato²,

Sessa

et al. 2008

IEEE Robot. Automat. Mag.

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obot teleoperation is inherently related to sensor data transmission. Sensor data can be interpreted by the robotic system before being transmitted and presented to a user. This typically happens with sonar and laser sensors. In other cases, sensor data can directly be presented to a user to let him or her interpret the transmitted information. This happens, for example, with visual data. Robot teleoperation systems typically rely on two-dimensional (2-D) displays. These systems suffer from many limitations, e.g., misjudgment of self-motion and spatial localization; limited comprehension of remote ambient layout, object size, and shape; etc. This leads to unwanted collisions during navigation and long training periods for an operator. An advantageous alternative to traditional 2-D (monoscopic) visualization systems is represented by the use of stereoscopic viewing. In the literature, we can find works demonstrating that stereoscopic visualization may provide a user with a higher sense of presence in remote environments because of higher depth perception, leading to higher comprehension of distance as well as aspects related to it, e.g., ambient layout, obstacle perception, and maneuver accuracy [2]-[6], [10]. The earlier conclusions can in principle be extended to teleguided robot navigation, where the use of stereo vision is expected to improve the navigation performance and driver capabilities [3]-[6]. However, it is hard to find works in the literature addressing stereoscopic mobile robot teleguide. In addition, it is not straightforward how stereo viewing would be an advantage for indoor workspaces where the ambient layout, typically man-made, would be simple and emphasizing monocular depth cues such as perspective, texture gradient, etc., hence diminishing the advantage of a binocular stereo. The goal of the proposed work is to analyze the characteristics and advantages of a telerobotic system based on video transmission and stereoscopic viewing. The proposed investigation follows a systematic approach based on the identification of main factors and a usability evaluation designed according them. Two different three-dimensional (3-D) visualization facilities are considered to evaluate its performance on systems with different characteristics, cost, and application context. The aim is to gain an insight into the problem and to understand on what system, and to what extent, is the stereo viewing beneficial. In the next section, we introduce visual sensors and stereo viewing. Then, the proposed investigation strategy is presented, followed by experimental design, test setup, and result analysis. Some final remarks conclude the article. Video-Based Teleoperation and Stereo Viewing When operating in unknown or hazardous environments, accurate robot navigation is of paramount importance. Errors and collisions must be minimized. Performance in robot teleoperation can

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“…Most of the benefits of stereoscopy may affect robot teleguide. Among the conclusions gathered from the literature, we have the following: "Most tele-manipulation tasks require operators to have a good sense of the relative locations of objects in remote world" [3]; "stereopsis gives better impression of tele-presence and of 3-D layout" [23]; "binocular disparity and movement parallax are important contributors to depth perception" [7]; and "a robot in a dangerous environment can be controlled more carefully and quickly when the controller has a stereoscopic view" [4].…”

Section: B Stereoscopy Benefits and Sacrificesmentioning

confidence: 99%

Stereo Viewing and Virtual Reality Technologies in Mobile Robot Teleguide

Livatino

Muscato

Privitera³

2009

IEEE Trans. Robot.

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The use of 3-D stereoscopic visualization may provide a user with higher comprehension of remote environments in teleoperation when compared with 2-D viewing, in particular, a higher perception of environment depth characteristics, spatial localization, remote ambient layout, faster system learning, and decision performance. Works in the paper have demonstrated how stereo vision contributes to the improvement of the perception of some depth cues, often for abstract tasks, while it is hard to find works addressing stereoscopic visualization in mobile robot teleguide applications. This paper intends to contribute to this aspect by investigating the stereoscopic robot teleguide under different conditions, including typical navigation scenarios and the use of synthetic and real images. This paper also investigates how user performance may vary when employing different display technologies. Results from a set of test trials run on seven virtual reality systems, from laptop to large panorama and from head-mounted display to Cave automatic virtual environment (CAVE), emphasized few aspects that represent a base for further investigations as well as a guide when designing specific systems for telepresence.

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On the Reproduction of Motion Parallax in Videocommunications

Cited by 9 publications

References 9 publications

Depth-enhanced mobile robot teleguide based on laser images

Depth-enhanced mobile robot teleguide based on laser images

Mobile robotic teleguide based on video images

Stereo Viewing and Virtual Reality Technologies in Mobile Robot Teleguide

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