Title
Evaluation of Immersive Teleoperation Systems using Standardized Tasks and Measurements
Author
Illing, B.
Westhoven, M.
Gaspers, B.
Smets, N.
Bruggemann, B.
Mathew, T.
Publication year
2020
Abstract
Despite advances regarding autonomous functionality for robots, teleoperation remains a means for performing delicate tasks in safety critical contexts like explosive ordnance disposal (EOD) and ambiguous environments. Immersive stereoscopic displays have been proposed and developed in this regard, but bring about their own specific problems, e.g., simulator sickness. This work builds upon standardized test environments to yield reproducible comparisons between different robotic platforms. The focus was placed on testing three optronic systems of differing degrees of immersion: (1) A laptop display showing multiple monoscopic camera views, (2) an off-the-shelf virtual reality headset coupled with a pantilt-based stereoscopic camera, and (3) a so-called Telepresence Unit, providing fast pan, tilt, yaw rotation, stereoscopic view, and spatial audio. Stereoscopic systems yielded significant faster task completion only for the maneuvering task. As expected, they also induced Simulator Sickness among other results. However, the amount of Simulator Sickness varied between both stereoscopic systems. Collected data suggests that a higher degree of immersion combined with careful system design can reduce the to-be-expected increase of Simulator Sickness compared to the monoscopic camera baseline while making the interface subjectively more effective for certain tasks. © 2020 IEEE.
Subject
Agricultural robots
Audio systems
Cameras
Diseases
Remote control
Safety engineering
Simulators
Social robots
Stereo image processing
Three dimensional computer graphics
Visual communication
Explosive ordnance disposal
Simulator sickness
Standardized tests
Stereoscopic camera
Stereoscopic display
Stereoscopic systems
Teleoperation systems
Virtual-reality headsets
Virtual reality
Human & Operational Modelling
PCS - Perceptual and Cognitive Systems
To reference this document use:
http://resolver.tudelft.nl/uuid:2f4bf57b-8a52-4ddd-9caa-2ec5decc6b1b
DOI
https://doi.org/10.1109/ro-man47096.2020.9223497
TNO identifier
955274
ISBN
9781728160757
Source
29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020, 31 August 2020 through 4 September 2020, 278-285
Document type
conference paper