Mixed-reality for enhanced robot teleoperation:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Würzburg
Univ.-Bibliothek
2010
|
| Schriftenreihe: | Würzburger Forschungsberichte in Robotik und Telematik
Bd. 5 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Zusätzliches Online-Angebot unter www.opus-bayern.de/uni-wuerzburg |
| Beschreibung: | V, 235 S. Ill., graph. Darst. 21 cm |
| ISBN: | 9783923959679 |
Internformat
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| 245 | 1 | 0 | |a Mixed-reality for enhanced robot teleoperation |c vorgelegt von Markus Sauer. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] |
| 264 | 1 | |a Würzburg |b Univ.-Bibliothek |c 2010 | |
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| 490 | 1 | |a Würzburger Forschungsberichte in Robotik und Telematik |v Bd. 5 | |
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| 650 | 0 | 7 | |a Mobiler Roboter |0 (DE-588)4191911-7 |2 gnd |9 rswk-swf |
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Datensatz im Suchindex
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| adam_text | IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 EXEMPLARY APPLICATION: ROBOTS IN URBAN SEARCH AND RESCUE . . . 2 1.2
OUTLINE 4
1.3 INNOVATIONS 5
2 HUMAN IN THE LOOP 9
2.1 HUMAN-ROBOT INTERACTION (HRI) 9
2.1.1 CHARACTERISTICS OF HRI 10
2.1.2 INTERACTION ROLES 12
2.2 TELEOPERATION 14
2.2.1 INTERACTION BETWEEN HUMANS AND AUTONOMY 16 2.2.2 USER INTERFACES
17
2.2.3 STUDIES AND USER INTERFACE GUIDELINES 19
2.3 HUMAN FACTORS 22
2.3.1 TELEPRESENCE 22
2.3.2 SITUATION AWARENESS 23
2.3.3 COMMON GROUND 24
2.3.4 WORKLOAD 26
2.3.5 SPATIAL COGNITION 26
2.4 EVALUATION OF HUMAN-ROBOT INTERACTION 29
2.5 DESIGNING THE TELEOPERATION SYSTEM 31
2.5.1 MODEL OF THE TELEOPERATION SYSTEM 31
2.5.2 DESIGN GOALS AND DEMANDS 34
3 3D-PERCEPTION AND COMMUNICATION NETWORKS FOR TELEOPERA- TION SYSTEMS
39
3.1 ENABLING TECHNOLOGIES 40
3.1.1 COMMUNICATION TECHNOLOGIES 40
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1013960831
DIGITALISIERT DURCH
IMAGE 2
CONTENTS
3.1.2 NETWORK PARAMETERS AND VIDEO STREAMS 45
3.1.3 THREE-DIMENSIONAL PERCEPTION 47
3.1.4 3D-TIME-OF-FLIGHT CAMERAS 47
3.1.5 OPTICAL CAMERA CALIBRATION 52
3.1.6 SENSOR DATA FUSION, LOCALIZATION AND MAPPING 55 3.2 A CONCEPT FOR
INTELLIGENT TRAFFIC SHAPING IN WIRELESS NETWORKS . 56 3.2.1 SCENARIOS 57
3.2.2 CONCEPT 59
3.2.3 NETWORK FEEDBACK AND ADAPTIVE VIDEO QUALITY 60
3.2.4 EXPERIMENTS AND VALIDATION 64
3.2.5 SUMMARY 75
3.3 THREE-DIMENSIONAL PERCEPTION WITH RANGE CAMERAS 76
3.3.1 CALIBRATION 76
3.3.2 FILTERING 79
3.3.3 TASK SPECIFIC OPTIMIZATION OF INTEGRATION TIME 82 3.4 APPLICATION:
3D-MAP USER INTERFACE ELEMENTS BASED ON PMD DATA 86 3.4.1 FRAME MATCHING
87
3.4.2 3D PANORAMAS 87
3.4.3 USER STUDIES 92
3.5 CONCLUSION 98
4 SLIDING AUTONOMY THROUGH HAPTIC GUIDANCE 101
4.1 CONCEPT 104
4.1.1 COMMAND GENERATION 105
4.1.2 GUIDANCE FORCES 107
4.1.3 AUGMENTED REALITY USER INTERFACE 114
4.2 USER STUDIES 115
4.2.1 METRICS 115
4.2.2 SYSTEM SETUP FOR EXPERIMENTS 117
4.2.3 SIMULATION EXPERIMENTS 118
4.2.4 REAL-WORLD EXPERIMENTS 126
4.2.5 EXPERIMENTS ON NETWORK DELAY TOLERANCE 133 4.3 CONCLUSION 136
IMAGE 3
CONTENTE
5 GRAPHICAL MIXED REALITY USER INTERFACE 139
5.1 ENABLING TECHNOLOGIES 140
5.1.1 THREE-DIMENSIONAL ELEMENTS IN USER INTERFACES 140 5.1.2 MIXED
REALITY 142
5.2 ADVANCED AUGMENTED REALITY OVERLAYS 146
5.2.1 REGISTRATION AND TRACKING 146
5.2.2 MODELING CAMERA IMAGES 148
5.2.3 OCCLUSION HANDLING 157
5.3 MIXED REALITY USER INTERFACE APPROACH 161
5.3.1 DESIGN AND CHARACTERISTICS 161
5.3.2 FRAMEWORK FOR MIXED REALITY USER INTERFACES 164 5.4 REALIZATION OF
USER INTERFACES 171
5.4.1 TEAM COORDINATION USER INTERFACE 172
5.4.2 AUGMENTED REALITY OPERATOR USER INTERFACE 175 5.4.3 GENERIC MIXED
REALITY USER INTERFACE 179
5.4.4 USER STUDIES 184
5.5 PREDICTIVE MIXED REALITY DISPLAY 193
5.5.1 PREDICTIVE CONCEPT 193
5.5.2 DISCUSSION OF RESULTS 200
5.6 SUMMARY 202
6 CONCLUSIONS 205
BIBLIOGRAPHY AND REFERENCES 211
|
| any_adam_object | 1 |
| author | Sauer, Markus |
| author_GND | (DE-588)134253450 |
| author_facet | Sauer, Markus |
| author_role | aut |
| author_sort | Sauer, Markus |
| author_variant | m s ms |
| building | Verbundindex |
| bvnumber | BV039520140 |
| classification_rvk | ST 308 ZQ 6230 |
| ctrlnum | (OCoLC)750778043 (DE-599)DNB1013960831 |
| dewey-full | 629.8924019 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8924019 |
| dewey-search | 629.8924019 |
| dewey-sort | 3629.8924019 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Elektrotechnik / Elektronik / Nachrichtentechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Thesis Book |
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| illustrated | Illustrated |
| indexdate | 2024-07-10T00:05:23Z |
| institution | BVB |
| isbn | 9783923959679 |
| language | English |
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| physical | V, 235 S. Ill., graph. Darst. 21 cm |
| publishDate | 2010 |
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| series | Würzburger Forschungsberichte in Robotik und Telematik |
| series2 | Würzburger Forschungsberichte in Robotik und Telematik |
| spelling | Sauer, Markus Verfasser (DE-588)134253450 aut Mixed-reality for enhanced robot teleoperation vorgelegt von Markus Sauer. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] Würzburg Univ.-Bibliothek 2010 V, 235 S. Ill., graph. Darst. 21 cm txt rdacontent n rdamedia nc rdacarrier Würzburger Forschungsberichte in Robotik und Telematik Bd. 5 Zusätzliches Online-Angebot unter www.opus-bayern.de/uni-wuerzburg Zugl.: Würzburg, Univ., Diss., 2011 Mixed Reality (DE-588)4560202-5 gnd rswk-swf Autonomer Roboter (DE-588)4304075-5 gnd rswk-swf Mensch-Maschine-Schnittstelle (DE-588)4720440-0 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mobiler Roboter (DE-588)4191911-7 s Autonomer Roboter (DE-588)4304075-5 s Mensch-Maschine-Schnittstelle (DE-588)4720440-0 s Mixed Reality (DE-588)4560202-5 s DE-604 Würzburger Forschungsberichte in Robotik und Telematik Bd. 5 (DE-604)BV035653696 5 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024372643&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Sauer, Markus Mixed-reality for enhanced robot teleoperation Würzburger Forschungsberichte in Robotik und Telematik Mixed Reality (DE-588)4560202-5 gnd Autonomer Roboter (DE-588)4304075-5 gnd Mensch-Maschine-Schnittstelle (DE-588)4720440-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| subject_GND | (DE-588)4560202-5 (DE-588)4304075-5 (DE-588)4720440-0 (DE-588)4191911-7 (DE-588)4113937-9 |
| title | Mixed-reality for enhanced robot teleoperation |
| title_auth | Mixed-reality for enhanced robot teleoperation |
| title_exact_search | Mixed-reality for enhanced robot teleoperation |
| title_full | Mixed-reality for enhanced robot teleoperation vorgelegt von Markus Sauer. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] |
| title_fullStr | Mixed-reality for enhanced robot teleoperation vorgelegt von Markus Sauer. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] |
| title_full_unstemmed | Mixed-reality for enhanced robot teleoperation vorgelegt von Markus Sauer. [Institut für Informatik, Lehrstuhl für Robotik und Telematik] |
| title_short | Mixed-reality for enhanced robot teleoperation |
| title_sort | mixed reality for enhanced robot teleoperation |
| topic | Mixed Reality (DE-588)4560202-5 gnd Autonomer Roboter (DE-588)4304075-5 gnd Mensch-Maschine-Schnittstelle (DE-588)4720440-0 gnd Mobiler Roboter (DE-588)4191911-7 gnd |
| topic_facet | Mixed Reality Autonomer Roboter Mensch-Maschine-Schnittstelle Mobiler Roboter Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024372643&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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