Viewpoint Tethering for Remotely Operated Vehicles: Effects on Complex Terrain Navigation and Spatial Awareness

Hollands, Justin G.; Lamb, Matthew

doi:10.1177/0018720811399757

Cited by 14 publications

(8 citation statements)

References 26 publications

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“…This comes despite videogamers' general preference for a third-person point of view, 49 and does not replicate the prior findings of Pazuchanics 50 and Hollands and Lamb. 42 We believe that this discrepancy could have arisen due to the relative simplicity of this task, and the fact that robot arm's gripper was visible in the first-person view, providing a reference point to the user that is similar to the types of references available in a third-person view. As a result, we combine data from the two viewpoints for the remainder of the analysis in this paper, focusing on delay type only.…”

Section: Results and Discussion 331 Task Performancementioning

confidence: 99%

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Development and analysis of an operator steering model for teleoperated mobile robots under constant and variable latencies

Vozar¹,

Storms²,

Tilbury³

2016

Robotica

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SUMMARYLatency hinders a mobile robot teleoperator's ability to perform remote tasks. However, this effect is not well modeled. This paper develops a model for teleoperator steering behavior as a PD controller based on projected lateral displacement, which was tuned to reflect user performance determined by a 31-subject user study under constant and variable latency (having mean latencies between 0 and 750 ms). Additionally, we determined that operator performance under variable latency could be mapped to the expected performance of an equivalent constant latency. We then tested additional latency distributions in simulation and demonstrated equivalent steering performance among several different latency distributions.

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Section: Results and Discussion 331 Task Performancementioning

confidence: 99%

“…2(b)) shows the scene from a virtual camera following behind the robot, which can also be described as a "rigidly tethered" viewpoint. 42 A first-person view ( Fig. 2(c)) shows the scene from the point of view of the robot's camera, with a small portion of the robot's gripper visible in the bottom portion of the window.…”

Section: User Interfacementioning

confidence: 99%

Development and analysis of an operator steering model for teleoperated mobile robots under constant and variable latencies

Vozar¹,

Storms²,

Tilbury³

2016

Robotica

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“…Observers were also able to make significantly better judgments when using the orbit view, compared with the standard condition. This could be due to the fact that tethered viewpoint helped observers to better understand the relations of the virtual PWC to their own location as suggested by Hollands and Lamb (2011).…”

Section: Discussionmentioning

confidence: 99%

“…With a tethered viewpoint, the virtual camera (observer’s viewpoint) is “attached” to the observed object or subject. Each technique has shown different effects; for example, tethered or egocentric viewpoints resulted in better performance for travel tasks (McCormick, Wickens, Banks, & Yeh, 1998); a tethered viewpoint better suits tasks that involve understanding the relations of close objects in the VE to one’s own location (Hollands & Lamb, 2011). Egocentric viewpoints provide greater sense of self when compared with exocentric viewpoints (Ma & Kaber, 2006), and users acquired spatial knowledge more effectively when using active navigation (egomotion) compared with passive navigation (Burigat & Chittaro, 2016).…”

Section: Introductionmentioning

confidence: 99%

How to Observe Users’ Movements in Virtual Environments: Viewpoint Control in a Power Wheelchair Simulator

et al. 2019

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Objective We describe a networked, two-user virtual reality (VR) power wheelchair (PWC) simulator system in which an actor (client) and an observer (clinician) meet. We then present a study with 15 observers (expert clinicians) evaluating the effect of three principal forms of viewpoint control (egocentric-egomotion, egocentric-tethered, and client-centric) on the observer’s assessment of driving tasks in a virtual environment (VE). Background VR allows for the simulation and assessment of real-world tasks in a controlled, safe, and repeatable environment. Observing users’ movement behavior in such a VE requires appropriate viewpoint control for the observer. The VR viewpoint user interface should allow an observer to make judgments equivalent or even superior to real-world situations. Method A purpose-built VR PWC simulator was developed. In a series of PWC driving tasks, we measured the perceived ease of use and sense of presence of the observers and compared the virtual assessment with real-world “gold standard” scores, including confidence levels in judgments. Results Findings suggest that with more immersive techniques, such as egomotion and tethered egocentric viewpoints, judgments are both more accurate and more confident. The ability to walk and/or orbit around the view significantly affected the observers’ sense of presence. Conclusion Incorporating the observer into the VE, through egomotion, is an effective method for assessing users’ behavior in VR with implications for the transferability of virtual experiences to the real world. Application Our application domain serves as a representative example for tasks where the movement of users through a VE needs to be evaluated.

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“…This article will consider applications of navigation displays in the military domain (e.g. Aretz 1991;Hollands and Lamb 2011;Thomas and Wickens 2006;Yeh et al 2003); specifically, the problem of a dismounted soldier navigating an urban environment. While soldiers have traditionally used paper maps and a compass, global positioning systems (GPS) and digital technology can provide updated information and alerts that are directly tied to surroundings and position.…”

Section: Introductionmentioning

confidence: 99%

A mirror in the sky: assessment of an augmented reality method for depicting navigational information

et al. 2020

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We investigated the efficacy of a novel augmented reality (AR) navigation display called Mirror in the Sky (MitS). AR displays can reduce the distance between virtual imagery content and the user's view of the environment but may have limited benefit for depicting map-based survey information. MitS presents a simulated mirror in the upper visual field, which reflects the topographic layout of the terrain in front of the user. In our experiment, 28 participants used MitS and a track-up Map in virtual reality to perform a route confirmation task, which required participants to decide whether a route could be successfully navigated. A post-trial threat location recall task examined spatial awareness. On that task, accuracy, duration, and subjective workload measures favoured the Map. However, participants with virtual reality experience made more accurate route confirmation decisions with MitS than the Map.

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Viewpoint Tethering for Remotely Operated Vehicles: Effects on Complex Terrain Navigation and Spatial Awareness

Abstract: A tethered display is recommended for applications in which it is necessary to understand the relation of nearby locations to one's own location.

Cited by 14 publications

References 26 publications

Development and analysis of an operator steering model for teleoperated mobile robots under constant and variable latencies

Development and analysis of an operator steering model for teleoperated mobile robots under constant and variable latencies

How to Observe Users’ Movements in Virtual Environments: Viewpoint Control in a Power Wheelchair Simulator

A mirror in the sky: assessment of an augmented reality method for depicting navigational information

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