File Download

There are no files associated with this item.

  • Find it @ UNIST can give you direct access to the published full text of this article. (UNISTARs only)
Related Researcher

OakleyIan

Oakley, Ian
Interactions Lab.
Read More

Views & Downloads

Detailed Information

Cited time in webofscience Cited time in scopus
Metadata Downloads

Full metadata record

DC Field Value Language
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 -

qrcode

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.