An Augmented Reality Human-Robot Collaboration System

InvitedThis article discusses an experimental comparison of three user interface techniques for interaction with a remotely located robot. A typical interface for such a situation is to teleoperate the robot using a camera that displays the robot's view of its work environment. However, the operator often has a difficult time maintaining situation awareness due to this single egocentric view. Hence, a multimodal system was developed enabling the human operator to view the robot in its remote work environment through an augmented reality interface, the augmented reality human-robot collaboration (AR-HRC) system. The operator uses spoken dialogue, reaches into the 3D representation of the remote work environment and discusses intended actions of the robot. The result of the comparison was that the AR-HRC interface was found to be most effective, increasing accuracy by 30%, while reducing the number of close calls in operating the robot by factors of ~3x. It thus provides the means to maintain spatial awareness and give the users the feeling of working in a true collaborative environment

EVEN-VE: Eyes Visibility Based Egocentric Navigation for Virtual Environments

Navigation is one of the 3D interactions often needed to interact with a synthetic world. The latest advancements in image processing have made possible gesture based interaction with a virtual world. However, the speed with which a 3D virtual world responds to a user’s gesture is far greater than posing of the gesture itself. To incorporate faster and natural postures in the realm of Virtual Environment (VE), this paper presents a novel eyes-based interaction technique for navigation and panning. Dynamic wavering and positioning of eyes are deemed as interaction instructions by the system. The opening of eyes preceded by closing for a distinct time-threshold, activates forward or backward navigation. Supporting 2-Degree of Freedom head’s gestures (Rolling and Pitching) panning is performed over the xy-plane. The proposed technique was implemented in a case-study project; EWI (Eyes Wavering based Interaction). With EWI, real time detection and tracking of eyes are performed by the libraries of OpenCV at the backend. To interactively follow trajectory of both the eyes, dynamic mapping is performed in OpenGL. The technique was evaluated in two separate sessions by a total of 28 users to assess accuracy, speed and suitability of the system in Virtual Reality (VR). Using an ordinary camera, an average accuracy of 91% was achieved. However, assessment made by using a high quality camera testified that accuracy of the system could be raised to a higher level besides increase in navigation speed. Results of the unbiased statistical evaluations suggest/demonstrate applicability of the system in the emerging domains of virtual and augmented realities

A fast and robust hand-driven 3D mouse

The development of new interaction paradigms requires a natural interaction. This means that people should be able to interact with technology with the same models used to interact with everyday real life, that is through gestures, expressions, voice. Following this idea, in this paper we propose a non intrusive vision based tracking system able to capture hand motion and simple hand gestures. The proposed device allows to use the hand as a "natural" 3D mouse, where the forefinger tip or the palm centre are used to identify a 3D marker and the hand gesture can be used to simulate the mouse buttons. The approach is based on a monoscopic tracking algorithm which is computationally fast and robust against noise and cluttered backgrounds. Two image streams are processed in parallel exploiting multi-core architectures, and their results are combined to obtain a constrained stereoscopic problem. The system has been implemented and thoroughly tested in an experimental environment where the 3D hand mouse has been used to interact with objects in a virtual reality application. We also provide results about the performances of the tracker, which demonstrate precision and robustness of the proposed syste