Open AccessTowards Sensor Enhanced Virtual Reality Teleoperation in a Dynamic Environment
Author(s) -
Muthukkumar S. Kadavasal,
James H. Oliver
Publication year - 2007
Publication title -
iowa state university digital repository (iowa state university)
Language(s) - English
Resource type - Conference proceedings
DOI - 10.1115/detc2007-34695
Subject(s) - teleoperation , virtual reality , computer science , augmented reality , obstacle , virtual machine , telerobotics , robot , interface (matter) , obstacle avoidance , real time computing , mobile robot , artificial intelligence , computer vision , simulation , bubble , maximum bubble pressure method , parallel computing , political science , law , operating system
A teleoperation interface is introduced featuring an integrated virtual reality based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The virtual reality system addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view, allowing the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. It also enables temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. Finally, the system provides real time update to the virtual environment based on anomalies encountered by the vehicle. System architecture and preliminary implementation results are discussed, and future work focused on incorporating dynamic moving objects in the environment is described.Copyright © 2007 by ASME
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