Investigation of Annotation-assisted User Performance in Virtual Reality-based Remote Robot Control
- Publication Type:
- Conference Proceeding
- Citation:
- Australasian Conference on Robotics and Automation, ACRA, 2022, 2022-, (-)
- Issue Date:
- 2022-01-01
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| Filename | Description | Size | |||
|---|---|---|---|---|---|
| Object_detection_and_bounding_box_algorithm_paper_Accepted Version.pdf | Accepted version | 6.04 MB |
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This paper investigates the use of point cloud processing algorithms to provide annotations for robotic manipulation tasks completed remotely via Virtual Reality VR A VR based system has been developed that receives and visualises processed data from real time RGB D camera feeds A point cloud processing algorithm is introduced to annotate targets and simulated experiments were conducted to validate the efficacy of the proposed algorithm A real world robot model has also been developed to provide realistic reactions and control feedback The targets and the robot model are reconstructed in a VR environment and presented to users with different modalities The modalities and available information are varied between experimental settings and the associated task performance is recorded and analysed The results accumulated from 288 experiments completed by 12 participants indicated that point cloud data is sufficient for task completion Additional information neither image stream nor preliminary processes presented as annotations was found to have a signficant impact on the completion time However the combination of image stream and colored point cloud data visualisation modalities was found to greatly enhance a user s performance accuracy with the number of target centres missed being reduced by 25 2022 Australasian Robotics and Automation Association All rights reserved
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