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Establishing common ground between an intelligent robot and a human requirescommunication of the robot's intention, behavior, and knowledge to the human tobuild trust and assure safety in a shared environment. This paper introducesSENSAR (Seeing Everything iN Situ with Augmented Reality), an augmented realityrobotic system that enables robots to communicate their sensory and cognitivedata in context over the real-world with rendered graphics, allowing a user tounderstand, correct, and validate the robot's perception of the world. Oursystem aims to support human-robot interaction research by establishing commonground where the perceptions of the human and the robot align.

SENSAR: A Visual Tool for Intelligent Robots for Collaborative Human-Robot Interaction