Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation
Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation
复制标题
通过模型分割实现基于 VR 的远程操作的实时环境重建
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
J. Franke
中科院分区：
文献类型：
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作者：
Sebastian Kohn;Andreas Blank;David Puljiz;Lothar Zenkel;Oswald Bieber;B. Hein;J. Franke
在接下来的几年里，越来越多的自主移动机器人系统将进入现代车间。然而，在诸如系统死锁、算法失败或故障等意外情况下，有必要为干预提供人机界面。使用虚拟或混合现实技术，多模式远程操作提供了成为合适的人机界面的潜力。该领域的主要挑战包括实时远程控制、使用多个传感器进行高效的整体环境检测、传感器数据的降噪可视化以及目标识别能力。本文总结了近实时、可互操作、支持操作员的远程操作体系结构的研究成果。本文重点研究了一种有效地处理和可视化点云的方法，以满足虚拟现实应用对高帧率的要求。为了在远距离上提供机器人及其环境的近实时反馈，该方法能够将已知物体从未知物体中分离出来，以减少带宽需求。本文的结果是通过远距离UDP/IP通信使用工业关节机械臂进行远程操作进行评估。
Over the next few years, more and more autonomous mobile robot systems will find their way into modern shop floors. However, it will be necessary to provide human-machine interfaces for interventions in unexpected situations like system-deadlocks, algorithm failures or inabilities. Using virtual or mixed reality-technologies, multi-modal teleoperation offers potential for being a suitable human-machine interface. Essential challenges in this field are, among others, a real-time remote control, a time-efficient and holistic environment detection using multiple sensors, a noise-reduced visualization of sensor-data, and capabilities of object recognition. This paper summarizes research results regarding an architecture capable of a near realtime, interoperable, and operator-supporting teleoperation. The focus of this paper is on a method to efficiently process and visualize point-clouds to meet high frame rate demands of virtual reality applications. To provide near real-time feedback of the robot and its environment over large distances, the presented method is capable to segment known objects from unknown objects to reduce bandwidth requirements. The results of this paper were evaluated using a industrial articulated robotic arm for teleoperation via a long distance UDP/IP communication.