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Teleoperation of domestic service robots: Effects of global 3D environment maps in the user interface on operators' cognitive and performance metrics

 
: Mast, Marcus; Španel, Michal; Arbeiter, Georg; Stancl, Vít; Zdenek, Materna; Weisshardt, Florian; Burmester, Michael; Smrz, Pavel; Graf, Birgit

:
Postprint urn:nbn:de:0011-n-3508114 (5.3 MByte PDF)
MD5 Fingerprint: 934e0d12a5eaebd0ab063e5229d484c8
The original publication is available at springerlink.com
Erstellt am: 24.5.2016


Herrmann, G.:
Social robotics. 5th International Conference, ICSR 2013 : Bristol, UK, October 27 - 29, 2013. Proceedings
Cham: Springer, 2013 (Lecture Notes in Computer Science 8239)
ISBN: 978-3-319-02674-9 (print)
ISBN: 978-3-319-02675-6 (online)
S.392-401
International Conference on Social Robotics (ICSR) <5, 2013, Bristol>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
service robot; Teleoperation; user interface; Fernsteuerung; Serviceroboter

Abstract
This paper investigates the suitability of visualizing global 3D environment maps generated from RGB-D sensor data in teleoperation user interfaces for service robots. We carried out a controlled experiment involving 27 participants, four teleoperation tasks, and two types of novel global 3D mapping techniques. Results show substantial advantages of global 3D mapping over a control condition for three of the four tasks. Global 3D mapping in the user interface lead to reduced search times for objects and to fewer collisions. In most situations it also resulted in less operator workload, higher situation awareness, and higher accuracy of operators' mental models of the remote environment.

: http://publica.fraunhofer.de/dokumente/N-350811.html