Immersive 3-D teleoperation of a search and rescue robot using a head-mounted display
Abstract
This paper proposes an alternative approach to common teleoperation methods found in search and rescue (SAR) robots. Using a head mounted display (HMD) the operator is capable of perceiving rectified images of the robot world in 3-D, as transmitted by a pair of stereo cameras onboard the robot. The HMD is also equipped with an integrated head-tracker, which permits controlling the robot motion in such a way that the cameras follow the operator's head movements, thus providing an immersive sensation to him. We claim that this approach is a more intuitive and less error prone teleoperation of the robot. The proposed system was evaluated by a group of subjects, and the results suggest that it may yield significant benefits to the effectiveness of the SAR mission. In particular, the user's depth perception and situational awareness improved significantly when using the HMD, and their performance during a simulated SAR operation was also enhanced, both in terms of operation time and on successful identification of objects of interest.
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Study of Multimodal Interfaces and the Improvements on Teleoperation
Triantafyllidis, E., Mcgreavy, C., Gu, J., & Li, Z. (2020) · IEEE Access · doi:10.1109/access.2020.2990080 · Cited by 105 · see citing works
“As such, increased depth information leads to reduced collisions with the surrounding environment and better performance during highly dexterous manipulation tasks [7], [22].”
BackgroundPersonality perception of robot avatar tele-operators
Bremner, P., Celiktutan, O., & Gunes, H. (2016) · 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI) · doi:10.1109/hri.2016.7451745 · Cited by 36 · see citing works
- Authors
- Martins, H., & Ventura, R.
- Affiliations
- Instituto Superior Técnico (PT)
- ORCID
- Ventura, Rodrigo
- Venue
- 2009 IEEE Conference on Emerging Technologies & Factory Automation
- Publisher
- IEEE
- Published
- 2009-09
- Pages
- 1-8
- OpenAlex
- W2126545567
- Cited by
- 63
- References
- 0
- Citations by year
- 2026: 1 · 2025: 3 · 2024: 6 · 2023: 1 · 2022: 4 · 2021: 3 · 2020: 9 · 2019: 2 · 2018: 3 · 2017: 8 · 2016: 6 · 2015: 6 · 2014: 5 · 2013: 1 · 2012: 3
- FWCI
- 4.79
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) (publishedVersion)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Computer Science › Human-Computer Interaction › Virtual Reality Applications and Impacts
- Social Sciences › Psychology › Social Psychology › Social Robot Interaction and HRI
- Keywords
- teleoperation, search and rescue robots, head-mounted displays, 3D visualization, stereo camera, head tracking, immersive teleoperation, depth perception, situational awareness, human-robot interaction, object identification
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