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DC Field | Value | Language |
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dc.citation.endPage | 2185 | - |
dc.citation.number | 10 | - |
dc.citation.startPage | 2166 | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 33 | - |
dc.contributor.author | Martins, Henrique | - |
dc.contributor.author | Oakley, Ian | - |
dc.contributor.author | Ventura, Rodrigo | - |
dc.date.accessioned | 2023-12-22T00:36:30Z | - |
dc.date.available | 2023-12-22T00:36:30Z | - |
dc.date.created | 2014-06-23 | - |
dc.date.issued | 2015-12 | - |
dc.description.abstract | This paper describes and evaluates the use of a head-mounted display (HMD) for the teleoperation of a field robot. The HMD presents a pair of video streams to the operator (one to each eye) originating from a pair of stereo cameras located on the front of the robot, thus providing him/her with a sense of depth (stereopsis). A tracker on the HMD captures 3-DOF head orientation data which is then used for adjusting the camera orientation by moving the robot and/or the camera position accordingly, and rotating the displayed images to compensate for the operator's head rotation. This approach was implemented in a search and rescue robot (RAPOSA), and it was empirically validated in a series of short user studies. This evaluation involved four experiments covering two-dimensional perception, depth perception, scene perception, and performing a search and rescue task in a controlled scenario. The stereoscopic display and head tracking are shown to afford a number of performance benefits. However, one experiment also revealed that controlling robot orientation with yaw input from the head tracker negatively influenced task completion time. A possible explanation is a mismatch between the abilities of the robot and the human operator. This aside, the studies indicated that the use of an HMD to create a stereoscopic visualization of the camera feeds from a mobile robot enhanced the perception of cues in a static three-dimensional environment and also that such benefits transferred to simulated field scenarios in the form of enhanced task completion times. | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.33, no.10, pp.2166 - 2185 | - |
dc.identifier.doi | 10.1017/S026357471400126X | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.scopusid | 2-s2.0-84945447685 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/5014 | - |
dc.identifier.url | https://www.cambridge.org/core/journals/robotica/article/design-and-evaluation-of-a-headmounted-display-for-immersive-3d-teleoperation-of-field-robots/067B74B15E64EEDBAD728CEFB8F65776 | - |
dc.identifier.wosid | 000363786300009 | - |
dc.language | 영어 | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.title | Design and evaluation of a head-mounted display for immersive 3D teleoperation of field robots | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.relation.journalResearchArea | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | Urban search and rescue | - |
dc.subject.keywordAuthor | Head-Mounted Display | - |
dc.subject.keywordAuthor | Stereopsis | - |
dc.subject.keywordAuthor | Teleoperation | - |
dc.subject.keywordAuthor | Human factors | - |
dc.subject.keywordAuthor | User study | - |
dc.subject.keywordPlus | AUGMENTED REALITY | - |
dc.subject.keywordPlus | VIDEO MONITOR | - |
dc.subject.keywordPlus | URBAN SEARCH | - |
dc.subject.keywordPlus | RESCUE | - |
dc.subject.keywordPlus | PERFORMANCE | - |
dc.subject.keywordPlus | AWARENESS | - |
dc.subject.keywordPlus | STEREO | - |
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