A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics
A Mixed Reality Supervision and Telepresence Interface for Outdoor Field Robotics
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DOI：
10.1109/iros51168.2021.9636090
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发表时间：
2021-09
期刊：
影响因子：
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通讯作者：
M. Walker;Zhaozhong Chen;Matt Whitlock;David Blair;D. Szafir;C. Heckman;D. Szafir
中科院分区：
文献类型：
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作者：
M. Walker;Zhaozhong Chen;Matt Whitlock;David Blair;D. Szafir;C. Heckman;D. Szafir
协作的人-机器人现场操作依赖于及时的决策和协调，这对于在大规模部署中操作的不同团队来说可能是具有挑战性的。在这项工作中，我们提出了一个沉浸式混合现实(MR)界面的设计，以支持基于人类和机器人团队成员的数据收集能力的感知和情景感知。我们的解决方案集成了环境地图和MR中的最先进方法，使用户可以快速了解工作环境、人类和机器人团队成员当前和以前的位置，以及这些团队成员收集的环境数据。我们描述了我们的系统的实施，分享了在整个设计过程中与应急人员合作的经验教训，并提出了在大规模户外环境中使用身临其境的显示器进行人-机器人野外团队部署的愿景。
Collaborative human-robot field operations rely on timely decision-making and coordination, which can be challenging for heterogeneous teams operating in large-scale deployments. In this work, we present the design of an immersive, mixed reality (MR) interface to support sense-making and situational awareness based on the data collection capabilities of both human and robotic team members. Our solution integrates state-of-the-art methods in environment mapping and MR so that users may gain rapid insights regarding the working environment, the current and previous locations of human and robot team members, and the environment data such team members have collected. We describe the implementation of our system, share lessons learned in collaborating with emergency responders throughout our design process, and offer a vision for the use of immersive displays for human-robot field team deployments in large-scale outdoor environments.