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Register a new userMonoscopic vs. Stereoscopic Views and Display Types in the Teleoperation of Unmanned Ground Vehicles for Object Avoidance
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Added by
Yiming Luo
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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Virtual reality (VR) head-mounted displays (HMD) have recently been used to provide an immersive, first-person vision/view in real-time for manipulating remotely-controlled unmanned ground vehicles (UGV). The teleoperation of UGV can be challenging for operators when it is done in real time. One big challenge is for operators to perceive quickly and rapidly the distance of objects that are around the UGV while it is moving. In this research, we explore the use of monoscopic and stereoscopic views and display types (immersive and non-immersive VR) for operating vehicles remotely. We conducted two user studies to explore their feasibility and advantages. Results show a significantly better performance when using an immersive display with stereoscopic view for dynamic, real-time navigation tasks that require avoiding both moving and static obstacles. The use of stereoscopic view in an immersive display in particular improved user performance and led to better usability.
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Unmanned ground vehicles have a huge development potential in both civilian and military fields, and have become the focus of research in various countries. In addition, high-precision, high-reliability sensors are significant for UGVs efficient operation. This paper proposes a brief review on sensor technologies for UGVs. Firstly, characteristics of various sensors are introduced. Then the strengths and weaknesses of different sensors as well as their application scenarios are compared. Furthermore, sensor applications in some existing UGVs are summarized. Finally, the hotspots of sensor technologies are forecasted to point the development direction.
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This paper reviews the causes of discomfort in viewing stereoscopic content. These include objective factors, such as misaligned images, as well as subjective factors, such as excessive disparity. Different approaches to the measurement of visual discomfort are also reviewed, in relation to the underlying physiological and psychophysical processes. The importance of understanding these issues, in the context of new display technologies, is emphasized.
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicles dynamics and of its environment. Vehicle dynamics is characterized by pre-computed functions for accelerating and braking to a given speed. Environment is modeled by a function of time giving the free distance ahead of the controlled vehicle under the assumption that the obstacles are either fixed or are moving in the same direction. The main result is a control policy enforcing the vehicles speed so as to avoid collision and efficiently use the free distance ahead, provided some initial safety condition holds. The studied principle is applied to the design of two discrete controllers, one synchronous and another asynchronous. We show that both controllers are safe by construction. Furthermore, we show that their efficiency strictly increases for decreasing granularity of discretization. We present implementations of the two controllers, their experimental evaluation in the Carla autonomous driving simulator and investigate various performance issues.
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