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Combining virtual reality with camera data and a wearable sensor jacket to facilitate robot teleoperation

: Illing, Boris; Gaspers, Bastian; Schulz, Dirk


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Computer Society:
IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops, VRW 2021. Proceedings : 27 March - 3 April 2021, Virtual Event
Los Alamitos, Calif.: IEEE Computer Society Conference Publishing Services (CPS), 2021
ISBN: 978-1-6654-1166-0
ISBN: 978-1-6654-4057-8
ISBN: 978-0-7381-1367-8
Conference on Virtual Reality and 3D User Interfaces (VRW) <2021, Online>
Fraunhofer FKIE ()

Unmanned ground vehicles (UGV) with differing degrees of autonomy are increasingly used for routine tasks, albeit still widely controlled through teleoperation in safety-critical contexts. We pro-pose to complement a traditional approach of showing camera views on a 2D screen with an immersive Virtual Environment (VE), displaying camera data with depth cues around a model of the robot. Combining both approaches with a wearable sensor jacket, the operator can choose the best one for the current task. Preliminary experiments showed that even untrained operators can successfully solve pick and place tasks with high accuracy with our system.