Augmented reality user interface for mobile ground robots with manipulator arms

Steven Vozar; Dawn M. Tilbury

doi:10.1117/12.876591

24 January 2011 Augmented reality user interface for mobile ground robots with manipulator arms

Steven Vozar, Dawn M. Tilbury

Proceedings Volume 7878, Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques; 78780M (2011) https://doi.org/10.1117/12.876591
Event: IS&T/SPIE Electronic Imaging, 2011, San Francisco Airport, California, United States

Abstract

Augmented Reality (AR) is a technology in which real-world visual data is combined with an overlay of computer graphics, enhancing the original feed. AR is an attractive tool for teleoperated UGV UIs as it can improve communication between robots and users via an intuitive spatial and visual dialogue, thereby increasing operator situational awareness. The successful operation of UGVs often relies upon both chassis navigation and manipulator arm control, and since existing literature usually focuses on one task or the other, there is a gap in mobile robot UIs that take advantage of AR for both applications. This work describes the development and analysis of an AR UI system for a UGV with an attached manipulator arm. The system supplements a video feed shown to an operator with information about geometric relationships within the robot task space to improve the operator's situational awareness. Previous studies on AR systems and preliminary analyses indicate that such an implementation of AR for a mobile robot with a manipulator arm is anticipated to improve operator performance. A full user-study can determine if this hypothesis is supported by performing an analysis of variance on common test metrics associated with UGV teleoperation.

Citation Download Citation

Steven Vozar and Dawn M. Tilbury "Augmented reality user interface for mobile ground robots with manipulator arms", Proc. SPIE 7878, Intelligent Robots and Computer Vision XXVIII: Algorithms and Techniques, 78780M (24 January 2011); https://doi.org/10.1117/12.876591

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