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Register a new userSeeing Thru Walls: Visualizing Mobile Robots in Augmented Reality
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Added by
Morris Gu Mr
Publication date
2021
fields
Informatics Engineering
and research's language is
English
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We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements are visualized in Augmented Reality: 1) Robots 3D model to indicate its position, 2) An arrow emanating from the robot to indicate its planned movement direction, and 3) A 2D grid to represent the ground plane. We conduct a user study with 18 participants, in which each participant are asked to retrieve objects, one at a time, from stations at the two sides of a T-junction at the end of a hallway where a mobile robot is roaming. The results show that visualizations improved the perceived safety and efficiency of the task and led to participants being more comfortable with the robot within their personal spaces. Furthermore, visualizing the motion intent in addition to the robot model was found to be more effective than visualizing the robot model alone. The proposed system can improve the safety of automated warehouses by increasing the visibility and predictability of robots.
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Humans are highly skilled in communicating their intent for when and where a handover would occur. However, even the state-of-the-art robotic implementations for handovers display a general lack of communication skills. This study aims to visualize the internal state and intent of robots for Human-to-Robot Handovers using Augmented Reality. Specifically, we aim to visualize 3D models of the object and the robotic gripper to communicate the robots estimation of where the object is and the pose in which the robot intends to grasp the object. We tested this design via a user study with 16 participants, in which each participant handed over a cube-shaped object to the robot 12 times. Results show that visualizing robot intent using augmented reality substantially improves the subjective experience of the users for handovers. Results also indicate that the effectiveness of augmented reality is even more pronounced for the perceived safety and fluency of the interaction when the robot makes errors in localizing the object.
The combination of 5G and Multi-access Edge Computing (MEC) can significantly reduce application delay by lowering transmission delay and bringing computational capabilities closer to the end user. Therefore, 5G MEC could enable excellent user experience in applications like Mobile Augmented Reality (MAR), which are computation-intensive, and delay and jitter-sensitive. However, existing 5G handoff algorithms often do not consider the computational load of MEC servers, are too complex for real-time execution, or do not integrate easily with the standard protocol stack. Thus they can impair the performance of 5G MEC. To address this gap, we propose Comp-HO, a handoff algorithm that finds a local solution to the joint problem of optimizing signal strength and computational load. Additionally, Comp-HO can easily be integrated into current LTE and 5G base stations thanks to its simplicity and standard-friendly deployability. Specifically, we evaluate Comp-HO through a custom NS-3 simulator which we calibrate via MAR prototype measurements from a real-world 5G testbed. We simulate both Comp-HO and several classic handoff algorithms. The results show that, even without a global optimum, the proposed algorithm still significantly reduces the number of large delays, caused by congestion at MECs, at the expense of a small increase in transmission delay.
Mobile Augmented Reality (MAR) integrates computer-generated virtual objects with physical environments for mobile devices. MAR systems enable users to interact with MAR devices, such as smartphones and head-worn wearables, and performs seamless transitions from the physical world to a mixed world with digital entities. These MAR systems support user experiences by using MAR devices to provide universal accessibility to digital contents. Over the past 20 years, a number of MAR systems have been developed, however, the studies and design of MAR frameworks have not yet been systematically reviewed from the perspective of user-centric design. This article presents the first effort of surveying existing MAR frameworks (count: 37) and further discusses the latest studies on MAR through a top-down approach: 1) MAR applications; 2) MAR visualisation techniques adaptive to user mobility and contexts; 3) systematic evaluation of MAR frameworks including supported platforms and corresponding features such as tracking, feature extraction plus sensing capabilities; and 4) underlying machine learning approaches supporting intelligent operations within MAR systems. Finally, we summarise the development of emerging research fields, current state-of-the-art, and discuss the important open challenges and possible theoretical and technical directions. This survey aims to benefit both researchers and MAR system developers alike.
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables a shared perception, so that a physical robot not only perceives the virtual elements in its own view but also infers the utility of the human agent--the cost needed to perceive and interact in AR--by sensing the human agents gaze and pose. Such a new HRI design also affords a shared manipulation, wherein the physical robot can control and alter virtual objects in AR as an active agent; crucially, a robot can proactively interact with human agents, instead of purely passively executing received commands. In experiments, we design a resource collection game that qualitatively demonstrates how a robot perceives, processes, and manipulates in AR and quantitatively evaluates the efficacy of HRI using the shared AR workspace. We further discuss how the system can potentially benefit future HRI studies that are otherwise challenging.
Mobile Augmented Reality (MAR) mixes physical environments with user-interactive virtual annotations. Immersive MAR experiences are supported by computation-intensive tasks which rely on offloading mechanisms to ease device workloads. However, this introduces additional network traffic which in turn influences the motion-to-photon latency (a determinant of user-perceived quality of experience). Therefore, a proper transport protocol is crucial to minimise transmission latency and ensure sufficient throughput to support MAR performance. Relatedly, 5G, a potential MAR supporting technology, is widely believed to be smarter, faster, and more efficient than its predecessors. However, the suitability and performance of existing transport protocols in MAR in the 5G context has not been explored. Therefore, we present an evaluation of popular transport protocols, including UDP, TCP, MPEG-TS, RTP, and QUIC, with a MAR system on a real-world 5G testbed. We also compare with their 5G performance with LTE and WiFi. Our evaluation results indicate that TCP has the lowest round-trip-time on 5G, with a median of $15.09pm0.26$ ms, while QUIC appears to perform better on LTE. Through an additional test with varying signal quality (specifically, degrading secondary synchronisation signal reference signal received quality), we discover that protocol performance appears to be significantly impacted by signal quality.
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