An Autonomous Dynamic Camera Method for Effective Remote Teleoperation

In this paper, we present a method that improves the ability of remote users to teleoperate amanipulation robot arm by continuously providing them with an effective viewpoint using a secondcamera-in-hand robot arm. The user controls the manipulation robot usinganyteleoperation interface, and the cam...

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Veröffentlicht in:2018 13th ACM/IEEE International Conference on Human-Robot Interaction (HRI) S. 325 - 333
Hauptverfasser: Rakita, Daniel, Mutlu, Bilge, Gleicher, Michael
Format: Tagungsbericht
Sprache:Englisch
Veröffentlicht: New York, NY, USA ACM 26.02.2018
Schriftenreihe:ACM Conferences
Schlagworte:
Cameras
Computer systems organization > Embedded and cyber-physical systems > Robotics
Computer systems organization > Embedded and cyber-physical systems > Robotics > External interfaces for robotics
Computer systems organization > Embedded and cyber-physical systems > Robotics > Robotic autonomy
Computer systems organization > Embedded and cyber-physical systems > Robotics > Robotic control
Computing methodologies > Artificial intelligence > Computer vision > Image and video acquisition > Active vision
Computing methodologies > Artificial intelligence > Computer vision > Image and video acquisition > Camera calibration
Computing methodologies > Artificial intelligence > Control methods
Computing methodologies > Artificial intelligence > Control methods > Motion path planning
Human-robot interaction
Manipulators
Servomotors
Visualization
ISBN:9781450349536, 1450349536
ISSN:2167-2148
Online-Zugang:Volltext
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Zusammenfassung:In this paper, we present a method that improves the ability of remote users to teleoperate amanipulation robot arm by continuously providing them with an effective viewpoint using a secondcamera-in-hand robot arm. The user controls the manipulation robot usinganyteleoperation interface, and the camera-in-hand robot automatically servos to provide a view of the remote environment that is estimated to best support effective manipulations. Our method avoids occlusions with the manipulation arm to improve visibility, provides context and detailed views of the environment by varying the camera-target distance, utilizes motion prediction to cover the space of the user»s next manipulation actions, and actively corrects views to avoid disorienting the user as the camera moves. Through two user studies, we show that our method improves teleoperation performance over alternative methods of providing visual support for teleoperation. We discuss the implications of our findings for real-world teleoperation and for future research.
ISBN:9781450349536
1450349536
ISSN:2167-2148
DOI:10.1145/3171221.3171279