A few test sequences done in and around the laboratory :
A few test sequences done in and around the laboratory :
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</center>
== Related Publications ==
== Related Publications ==
#Ferland, F., Pomerleau, F., Le Dinh, C.T., Michaud, F. (2009), "Egocentric and exocentric teleoperation interface using real-time, 3D video projection", ''Proceedings ACM/IEEE International Conference on Human-Robot Interaction'', March. ([http://laborius.gel.usherbrooke.ca/papers/HRI2009.pdf pdf])
#Ferland, F., Pomerleau, F., Le Dinh, C.T., Michaud, F. (2009), "Egocentric and exocentric teleoperation interface using real-time, 3D video projection", ''Proceedings ACM/IEEE International Conference on Human-Robot Interaction'', March. ([http://laborius.gel.usherbrooke.ca/papers/HRI2009.pdf pdf])
#Pomerleau, F., Colas, F., Ferland, F., Michaud, F. (2009), "Kd-ICP for fast and robust map registration", ''Proceedings Field and Services Robotics'', July. ([http://laborius.gel.usherbrooke.ca/papers/FSR2009.pdf pdf])
#Pomerleau, F., Colas, F., Ferland, F., Michaud, F. (2009), "Kd-ICP for fast and robust map registration", ''Proceedings Field and Services Robotics'', July. ([http://laborius.gel.usherbrooke.ca/papers/FSR2009.pdf pdf])
Egocentric and Exocentric Teleoperation Interface with 3D Video Projection
Description
Following the original Telerobot project, we began development on a novel 3D
interface for teleoperated navigation tasks.
This interface combines, in real time:
An extrusion of SLAM-built 2D map of the environment
A laser-based surface projection of a 2D video feed
A 3D projection of a colored point cloud built from a stereoscopic camera
A CAD-based 3D model of the robot
With this interface, the user can seamlessly transition from egocentric to
exocentric viewpoints by moving the virtual camera around the controlled
robot.
As in modern 3D third-person videogames, the user is able to set its viewpoint
to best suit the task at hand, like a top-down view to navigate tight spaces or
a straight-ahead view to communicate with people.
Future work
A new, ROS-compatible and open source implementation that will take advantage of
modern sensors like the Kinect is currently being worked on.
Follow the project repository on GitHub [1] for details.
Videos
A few test sequences done in and around the laboratory :
Ferland, F., Pomerleau, F., Le Dinh, C.T., Michaud, F. (2009), "Egocentric and exocentric teleoperation interface using real-time, 3D video projection", Proceedings ACM/IEEE International Conference on Human-Robot Interaction, March. (pdf)
Pomerleau, F., Colas, F., Ferland, F., Michaud, F. (2009), "Kd-ICP for fast and robust map registration", Proceedings Field and Services Robotics, July. (pdf)
