Development of an Optical Tracking Based Teleoperation System with Virtual Reality

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PubDate: September 2019

Teams: University of Canterbury;University of Hamburg;Shanghai Jiao Tong University

Writers: Yunpeng Su; Mohammad Ahmadi; Christoph Bartneck; Frank Steinicke; Xiaoqi Chen

PDF: Development of an Optical Tracking Based Teleoperation System with Virtual Reality

Development of an Optical Tracking Based Teleoperation System with Virtual Reality

Abstract

In this paper, we propose an optical tracking based teleoperation system with a virtual reality interface for mobile robots. The system allows the user to teleoperate a mobile robot using bare hands and the user can adjust the autonomy of the robot between two levels: direct control and autonomous navigation. A Leap Motion sensor based non-contact teleoperation method is developed to translate sensor messages into velocity commands to the robot in order to interact with a remote mobile robot in a natural manner. By incorporating HTC Vive virtual reality device, the user is fully immersed into the virtual space with visual feedback from the remote site. The system features cost-effective and extendable by leveraging commercial virtual reality devices and integrating it with open source robotic control middleware.

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