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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| Published in: | 2018 13th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 325 - 333 |
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| Main Authors: | , , |
| Format: | Conference Proceeding |
| Language: | English |
| Published: |
New York, NY, USA
ACM
26.02.2018
|
| Series: | ACM Conferences |
| Subjects: |
Computer systems organization
> Embedded and cyber-physical systems
> Robotics
> External interfaces for robotics
Computing methodologies
> Artificial intelligence
> Computer vision
> Image and video acquisition
> Active vision
|
| ISBN: | 9781450349536, 1450349536 |
| ISSN: | 2167-2148 |
| Online Access: | Get full text |
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| Abstract | 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. |
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| AbstractList | 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. In this paper, we present a method that improves the ability of remote users to teleoperate a manipulation robot arm by continuously providing them with an effective viewpoint using a second camera-in-hand robot arm. The user controls the manipulation robot using any teleoperation 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. |
| Author | Rakita, Daniel Gleicher, Michael Mutlu, Bilge |
| Author_xml | – sequence: 1 givenname: Daniel surname: Rakita fullname: Rakita, Daniel email: rakita@cs.wisc.edu organization: University of Wisconsin-Madison, Madison, WI, USA – sequence: 2 givenname: Bilge surname: Mutlu fullname: Mutlu, Bilge email: bilge@cs.wisc.edu organization: University of Wisconsin-Madison, Madison, WI, USA – sequence: 3 givenname: Michael surname: Gleicher fullname: Gleicher, Michael email: gleicher@cs.wisc.edu organization: University of Wisconsin-Madison, Madison, WI, USA |
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| Snippet | 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... In this paper, we present a method that improves the ability of remote users to teleoperate a manipulation robot arm by continuously providing them with an... |
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| StartPage | 325 |
| SubjectTerms | 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 |
| Title | An Autonomous Dynamic Camera Method for Effective Remote Teleoperation |
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