Pointing Performance Improvement of Real World Clicker System with a TOF Laser Sensor Set on a Pan-tilt Actuator: — Proposal of Laser Spot Marker in the Viewing Window —
Pointing Performance Improvement of Real World Clicker System with a TOF Laser Sensor Set on a Pan-tilt Actuator: — Proposal of Laser Spot Marker in the Viewing Window —
复制标题
在云台执行器上设置 TOF 激光传感器，提高真实世界 Clicker 系统的指向性能： — 在视窗中使用激光点标记的建议 —
DOI：
10.9746/sicetr.54.290
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Tetsushi Ikeda
中科院分区：
文献类型：
--
作者：
Kenjiro Sato;Yuta Hidaka;S. Iwaki;Tetsushi Ikeda
最近，越来越多的机器人被提出用于先进的病人护理。为了指导在杂乱环境中工作的机器人，我们引入了一个基于平移倾斜致动器上的TOF激光传感器的直观界面。该界面使我们能够控制激光光斑的方向来选择对象，并通过在PC屏幕上的拖放操作（“现实世界点击”界面）指示机器人对其进行操作。为了操纵房间中任何地方的物体，该界面提供了来自平移-倾斜致动器（观察窗）上的摄像头的视频图像。然而，激光光斑的位置很难在观察窗中看到，这取决于光线条件或物体的颜色和距离。为了科普这个问题，我们提出了一个新的接口，提供了一个标记显示在观察窗口中的激光光斑的位置。在本文中，我们提出了一种方法来确定的基础上的距离目标和相机参数的激光光斑的位置。对五名受试者的实验清楚地表明，所提出的标记的可用性在统计学上有显著改善。
Recently increasing number of robots have been proposed for advanced patient care. In order to instruct robots that work in cluttered environments, we have introduced an intuitive interface based on a TOF laser sensor on a pan-tilt actuator. The interface enables us to control the direction of the laser spot to select an object and instruct a robot to manipulate it by dragging and dropping operation on a PC screen (“real-world click” inter-face). To manipulate objects everywhere in a room, the interface provides video images from a camera on the pan-tilt actuator (viewing window). However, the location of the laser spot is hard to see in the viewing window depending on the light condition or the color and the distance of objects. To cope with the problem, we propose a new interface that provides a marker shown in the viewing window at the position of the laser spot. In this paper, we propose a method to determine the location of the laser spot based on the distance to the target and camera parameters. An experiment on five subjects clearly showed the statistically significant improvement of the usability of the proposed marker.