Performance evaluation of monocular predictive display
Performance evaluation of monocular predictive display
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单目预测显示性能评估
DOI：
10.1109/robot.2010.5509652
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Martin Jägersand
中科院分区：
文献类型：
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作者：
Adam Rachmielowski;N. Birkbeck;Martin Jägersand
在遥操作系统中，操作员的表现受到时延视觉反馈的负面影响。预测显示(PD)通过提供合成的视觉反馈来补偿延迟。虽然大多数现有的局部放电方法依赖于先验模型(例如，来自激光测距或立体视觉)，但最近在单目SLAM和SFM方面的工作使得在单摄像机应用中获取局部放电模型成为可能。在这项工作中，我们评估了基于粗3D模型的局部放电视觉反馈的操作性能。我们报告了12名远程操作员的实验结果，每个操作员执行96项视觉对准任务，延迟300ms。考虑了四种工作模式：延迟视频(无PD)、使用稳定平面的基于视频的PD(单应)、基于3D模型的PD和无延迟(地面真实)。结果表明，基于视觉的PD(无论是基于平面模型还是基于3D模型)都明显优于延迟视频。它将任务完成时间减少了40%，几乎与无延迟条件一样好。基于稀疏3D模型的PD比基于简单平面的PD方法稍好一些。
In teleoperation systems, operator performance is negatively affected by time-delayed visual feedback. Predictive display (PD) compensates for delays by providing synthesized visual feedback. While most existing PD methods rely on a priori models (e.g., from laser range finding or stereo vision), recent work on monocular SLAM and SFM makes it possible to acquire PD models in single camera applications. In this work, we evaluate operator performance of PD visual feedback based on a coarse 3D model. We report the experimental results of 12 human tele-operators each performing 96 visual alignment tasks with a 300ms delay. Four operating modes are considered: delayed video (no PD), video-based PD using a stabilizing plane (homography), 3D model-based PD, and no delay (ground truth). The results indicate that vision-based PD (both plane and 3D model-based) is significantly better than delayed video. It reduced task completion time 40% and is nearly as good as the no delay condition. PD based on a sparse a 3D model was somewhat better than the simpler plane based method.