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

Kohn S, Blank A, Puljiz D, Zenkel L, Bieber O, Hein B, Franke J (2018)

Publication Language: English

Publication Type: Conference contribution, Conference Contribution

Publication year: 2018

Pages Range: 6

Conference Proceedings Title: Proceedings of 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Event location: Madrid ES

DOI: 10.1109/IROS.2018.8594053

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.

Authors with CRIS profile

Andreas Blank Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)

Involved external institutions

AREVA GmbH DE Germany (DE) Karlsruhe Institute of Technology (KIT) DE Germany (DE)

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.

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