Developer Oriented Visualisation of a Robot Program An Augmented Reality Approach
Developer Oriented Visualisation of a Robot Program An Augmented Reality Approach
复制标题
面向开发人员的机器人程序可视化增强现实方法
DOI：
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
B. MacDonald
中科院分区：
文献类型：
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作者：
T. Collett;B. MacDonald
无论是在创建还是调试机器人软件时，机器人程序员都面临着理解机器人对其世界的看法的挑战性问题。因此，在不同的实验室为不同的机器人和不同的应用创建所需的工具。我们讨论了在这些条件下的有效交互的要求，并提出了一种增强现实的方法来可视化机器人的输入，输出和状态信息，包括几何数据，如激光范围扫描，时间数据，如过去的机器人路径，条件数据，如可能的未来机器人路径，和统计数据，如本地化分布。可视化技术必须随着机器人数据和复杂性的增加而适当地扩展。介绍了我们目前在开发机器人可视化工具包方面取得的进展。
Robot programmers are faced with the challenging problem of understanding the robot’s view of its world, both when creating and when debugging robot software. As a result tools are created as needed in different laboratories for different robots and different applications. We discuss the requirements for effective interaction under these conditions, and propose an augmented reality approach to visualising robot input, output and state information, including geometric data such as laser range scans, temporal data such as the past robot path, conditional data such as possible future robot paths, and statistical data such as localisation distributions. The visualisation techniques must scale appropriately as robot data and complexity increases. Our current progress in developing a robot visualisation toolkit is presented.