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Kinect with ROS, interact with oculus: towards dynamic user interfaces for robotic teleoperation
conference contribution
posted on 2016-08-12, 00:00 authored by Michael Alan Mortimer, Ben HoranBen Horan, Matthew JoordensMatthew JoordensTeleoperation remains an important aspect for robotic systems especially when deployed in unstructured environments. While a range of research strives for robots that are completely autonomous, many robotic applications still require some level of human-in-The-loop control. In any situation where teleoperation is required an effective User Interface (UI) remains a key component within the systems design. Current advancements in Virtual Reality (VR) software and hardware such as the Oculus Rift, HTC Vive and Google Cardboard combined with greater transparency to robotic systems afforded by middleware such as the Robot Operating System (ROS) provides an opportunity to rapidly improve traditional teleoperation interfaces. This paper uses a System of System (SoS) approach to present the concept of a Virtual Reality Dynamic User Interface (VRDUI) for the teleoperation of heterogeneous robots. Different geometric virtual workspaces are discussed and a cylindrical workspace aligned with interactive displays is presented as a virtual control room. A presentation mode within the proposed VRDUI is also detailed, this shows how point cloud information obtained from the Microsoft Kinect can be incorporated within the proposed virtual workspace. This point cloud data is successfully processed into an OctoMap utilizing the octree data structure to create a voxelized representation of the 3D scanned environment. The resulting OctoMap is then displayed to an operator as a 3D point cloud using the Oculus Rift Head Mounted Display (HMD).
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Event
Systems of Systems Engineering. Conference (11th: 2016: Kongsberg, Norway)Pagination
1 - 6Publisher
IEEELocation
Kongsberg, NorwayPlace of publication
Piscataway, N.J.Publisher DOI
Start date
2016-06-12End date
2016-06-16ISBN-13
9781467387279Language
engPublication classification
E Conference publication; E1 Full written paper - refereedCopyright notice
2016, IEEETitle of proceedings
SoSE 2016: Proceesings of the 11th IEEE Systems of Systems Engineering Conference: System of systems and cyber physical systems, from academia to application and backUsage metrics
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