Visual interfaces for operation of non-line-of-sight mobile manipulation

Jeff Will; Ian Lynn; Kevin L. Moore

doi:10.1117/12.775773

16 April 2008 Visual interfaces for operation of non-line-of-sight mobile manipulation

Jeff Will, Ian Lynn, Kevin L. Moore

Proceedings Volume 6962, Unmanned Systems Technology X; 69620U (2008) https://doi.org/10.1117/12.775773
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

Early applications of mobile robots focused on reconnaissance, surveillance, and target acquisition (RSTA) or related activities. For such scenarios, a significant body of experience has been developed related to the use of camera feedback for non-line-of-sight (NLOS) tele-operation for basic robot motion control (or driving) and remote surveillance. Recently, there has been increased interest in enhancing the capabilities of mobile platforms through the addition of robotic arms and manipulators, thus allowing remote manipulation of payloads or other devices in the environment (e.g., disarming explosives in a military application). In this case, the demands on the remote vision system become very different, as there are various modes in which the user can gain awareness of the motion of the platform and the manipulator arm. This includes robot view (typical driving camera), the view from an arm-mounted camera (eye-in-hand), and possibly the view from a fixed camera or from a camera mounted on the robot that captures the complete arm motion (scene view). To date, there have been few systematic studies that compare and contrast these different approaches to operator visual interfaces for NLOS robot and arm control interfaces. In this paper we address this problem, presenting a systematic, controlled, statistical study involving multiple subjects performing multiple trials of a NLOS tele-operated mobile manipulation task. The results of the study can be used to guide the development of operator visual interfaces for mobile manipulators.

Citation Download Citation

Jeff Will, Ian Lynn, and Kevin L. Moore "Visual interfaces for operation of non-line-of-sight mobile manipulation", Proc. SPIE 6962, Unmanned Systems Technology X, 69620U (16 April 2008); https://doi.org/10.1117/12.775773

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KEYWORDS

Cameras

Human-machine interfaces

Visualization

Video

Non-line-of-sight propagation

Interfaces

Robotics

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