Document Type

Article

Publication Date

3-3-2009

Journal or Book Title

Journal of Computing and Information Science in Engineering

Volume

9

Issue

1

First Page

014502

DOI

10.1115/1.3086030

Abstract

A multimodal teleoperation interface is introduced, featuring an integrated virtual reality (VR) based simulation augmented by sensors and image processing capabilities onboard the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multimodal control interface. VR addresses the typical limitations of video based teleoperation caused by signal lag and limited field of view, allowing the operator to navigate in a continuous fashion. The vehicle incorporates an onboard computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and a real-state tracking system enable temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. The system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The VR based multimodal teleoperation interface is expected to be more adaptable and intuitive when compared with other interfaces.

Comments

This article is from Journal of Computing and Information Science 9 (2009): 014502, doi:10.1115/1.3086030. Posted with permission.

Copyright Owner

ASME

Language

en

File Format

application/pdf

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