Egocentric and Exocentric Teleoperation Interface with 3D Video Projection
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.
A new, ROS-compatible and open source implementation that will take advantage of modern sensors like the Kinect is currently being worked on.
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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)