Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Kohn S, Blank A, Puljiz D, Zenkel L, Bieber O, Hein B, Franke J
Editor(s): IEEE
Publication year: 2018
Conference Proceedings Title: Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages range: 6
Language: English


Abstract

Over the next few years, more and more autonomous mobile robot systems will find their way into modern shop floors. However, it will be necessary to provide human-machine interfaces for interventions in unexpected situations like system deadlocks,algorithm failures or inabilities. Using virtual or mixed reality-technologies, multi-modal teleoperation offers potential for being a suitable human-machine interface. Essential challenges in this field are, among others, a real-time remote control, a time-efficient and holistic environment detection using multiple sensors, a noise-reduced visualization of sensor-data,and capabilities of object recognition. This paper summarizes research results regarding an architecture capable of a near realtime, interoperable an operator-supporting teleoperation. The focus of this paper is on a method to efficiently process and visualize point-clouds to meet high frame rate demands of virtual reality applications. To provide near real-time feedback of the robot and its environment over large distances, the presented method is capable to segment known objects from unknown objects to reduce bandwidth requirements. The results of this paper were evaluated using a industrial articulated robot arm for teleoperation via a long distance UDP/IP communication.


FAU Authors / FAU Editors

Blank, Andreas
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik
Franke, Jörg Prof. Dr.-Ing.
Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik


External institutions with authors

AREVA GmbH
Karlsruhe Institute of Technology (KIT)


How to cite

APA:
Kohn, S., Blank, A., Puljiz, D., Zenkel, L., Bieber, O., Hein, B., & Franke, J. (2018). Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation. In IEEE (Eds.), Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 6). Madrid, ES.

MLA:
Kohn, Sebastian, et al. "Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation." Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid Ed. IEEE, 2018. 6.

BibTeX: 

Last updated on 2019-04-02 at 00:10