Telerobotic control using augmented reality

Milgram, Paul; Rastogi, Akash; Grodski, J. J.

doi:10.1109/roman.1995.531930

Cited by 73 publications

(37 citation statements)

References 13 publications

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“…Tracking of pose is also useful for interacting with computer programs, machines and other tools [36,55,89,91]. Kinnect and the Wii controller are well known examples of commercial products used as input devices for game consols.…”

Section: Pose Estimation In Room-scaled Environmentsmentioning

confidence: 99%

On Pose Estimation in Room-Scaled Environments

Nyqvist¹

2016

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Systra mi, du är bäst! Ikväll ska vi tokdansa med Ronny och Ragge på bordet tills byxorna spricker så att mamma får dåndimpen och pappa ramlar ur soffan. AbstractPose (position and orientation) tracking in room-scaled environments is an enabling technique for many applications. Today, virtual reality (vr) and augmented reality (ar) are two examples of such applications, receiving high interest both from the public and the research community. Accurate pose tracking of the vr or ar equipment, often a camera or a headset, or of different body parts is crucial to trick the human brain and make the virtual experience realistic. Pose tracking in room-scaled environments is also needed for reference tracking and metrology. This thesis focuses on an application to metrology. In this application, photometric models of a photo studio are needed to perform realistic scene reconstruction and image synthesis. Pose tracking of a dedicated sensor enables creation of these photometric models. The demands on the tracking system used in this application is high. It must be able to provide sub-centimeter and sub-degree accuracy and at same time be easy to move and install in new photo studios.The focus of this thesis is to investigate and develop methods for a pose tracking system that satisfies the requirements of the intended metrology application. The Bayesian filtering framework is suggested because of its firm theoretical foundation in informatics and because it enables straightforward fusion of measurements from several sensors. Sensor fusion is in this thesis seen as a way to exploit complementary characteristics of different sensors to increase tracking accuracy and robustness. Four different types of measurements are considered; inertialmeasurements, images from a camera, range (time-of-flight) measurements from ultra wide band (uwb) radio signals, and range and velocity measurements from echoes of transmitted acoustic signals.A simulation study and a study of the Cramér-Rao lower filtering bound (crlb) show that an inertial-camera system has the potential to reach the required tracking accuracy. It is however assumed that known fiducial markers, that can be detected and recognized in images, are deployed in the environment. The study shows that many markers are required. This makes the solution more of a stationary solution and the mobility requirement is not fulfilled. A simultaneous localization and mapping (slam) solution, where naturally occurring features are used instead of known markers, are suggested solve this problem. Evaluation using real data shows that the provided inertial-camera slam filter suffers from drift but that support from uwb range measurements eliminates this drift. The slam solution is then only dependent on knowing the position of very few stationary uwb transmitters compared to a large number of known fiducial markers. As a last step, to increase the accuracy of the slam filter, it is investigated if and how range measurements can be complemented with velocity measurement obtained as a resu...

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Section: Pose Estimation In Room-scaled Environmentsmentioning

confidence: 99%

On Pose Estimation in Room-Scaled Environments

Nyqvist¹

2016

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“…[42]) or as a development tool for robot systems, by allowing the user to view sensor data, such as sonar and laser scans, in context with the real world (e.g. [12]).…”

Section: Human-agent Interaction In Virtual and Mixed Reality Environmentioning

confidence: 99%

Where Robots and Virtual Agents Meet

Holz

Dragone

O’Hare

2008

Int J of Soc Robotics

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Traditionally, social interaction research has concentrated on either fully virtually embodied agents (e.g. embodied conversational agents) or fully physically embodied agents (e.g. robots). For some time, however, both areas have started augmenting their agents' capabilities for social interaction using ubiquitous and intelligent environments.We are placing different agent systems for social interaction along Milgram's Reality-Virtuality Continuumaccording to the degree they are embodied in a physical, virtual or mixed reality environment-and show systems that follow the next logical step in this progression, namely social interaction in the middle of Milgram's continuum, that is, agents richly embodied in the physical and virtual world. This paper surveys the field of social interaction research with embodied agents with a particular view towards their embodiment forms and highlights some of the advantages and issues associated with the very recent field of social interaction with mixed reality agents.

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“…In particular the system is used to test avoidance algorithms with no danger to the human user from collisions occurring when the algorithm fails. Milgram et al used AR in creating a virtual measuring tape and a virtual tether to assist inserting a peg in a hole [12,13]. Freund et al [10] use AR to more simply display complex 3D state information about autonomous systems.…”

Section: Related Workmentioning

confidence: 99%

Developer oriented visualisation of a robot program

Collett

MacDonald

2006

Proceedings of the 1st ACM SIGCHI/SIGART Conference on Human-Robot Interaction

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Robot programmers are faced with the challenging problem of understanding the robot's view of its world, both when creating and when debugging robot software. As a result tools are created as needed in different laboratories for different robots and different applications. We discuss the requirements for effective interaction under these conditions, and propose an augmented reality approach to visualising robot input, output and state information, including geometric data such as laser range scans, temporal data such as the past robot path, conditional data such as possible future robot paths, and statistical data such as localisation distributions. The visualisation techniques must scale appropriately as robot data and complexity increases. Our current progress in developing a robot visualisation toolkit is presented.

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Telerobotic control using augmented reality

Cited by 73 publications

References 13 publications

On Pose Estimation in Room-Scaled Environments

On Pose Estimation in Room-Scaled Environments

Where Robots and Virtual Agents Meet

Developer oriented visualisation of a robot program

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