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Proceedings Paper

Study of high-definition and stereoscopic head-aimed vision for improved teleoperation of an unmanned ground vehicle
Author(s): Dale R. Tyczka; Robert Wright; Brian Janiszewski; Martha Jane Chatten; Thomas A. Bowen; Brian Skibba
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Paper Abstract

Nearly all explosive ordnance disposal robots in use today employ monoscopic standard-definition video cameras to relay live imagery from the robot to the operator. With this approach, operators must rely on shadows and other monoscopic depth cues in order to judge distances and object depths. Alternatively, they can contact an object with the robot's manipulator to determine its position, but that approach carries with it the risk of detonation from unintentionally disturbing the target or nearby objects. We recently completed a study in which high-definition (HD) and stereoscopic video cameras were used in addition to conventional standard-definition (SD) cameras in order to determine if higher resolutions and/or stereoscopic depth cues improve operators' overall performance of various unmanned ground vehicle (UGV) tasks. We also studied the effect that the different vision modes had on operator comfort. A total of six different head-aimed vision modes were used including normal-separation HD stereo, SD stereo, "micro" (reduced separation) SD stereo, HD mono, and SD mono (two types). In general, the study results support the expectation that higher resolution and stereoscopic vision aid UGV teleoperation, but the degree of improvement was found to depend on the specific task being performed; certain tasks derived notably more benefit from improved depth perception than others. This effort was sponsored by the Joint Ground Robotics Enterprise under Robotics Technology Consortium Agreement #69-200902 T01. Technical management was provided by the U.S. Air Force Research Laboratory's Robotics Research and Development Group at Tyndall AFB, Florida.

Paper Details

Date Published: 25 May 2012
PDF: 18 pages
Proc. SPIE 8387, Unmanned Systems Technology XIV, 83870L (25 May 2012); doi: 10.1117/12.916976
Show Author Affiliations
Dale R. Tyczka, Chatten Associates, Inc. (United States)
Robert Wright, Chatten Associates, Inc. (United States)
Brian Janiszewski, Chatten Associates, Inc. (United States)
Martha Jane Chatten, Chatten Associates, Inc. (United States)
Thomas A. Bowen, U.S. Air Force Materiel Command (United States)
Brian Skibba, U.S. Air Force Materiel Command (United States)

Published in SPIE Proceedings Vol. 8387:
Unmanned Systems Technology XIV
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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