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Kinect with ROS, interact with oculus: towards dynamic user interfaces for robotic teleoperation

Mortimer, Michael, Horan, Ben and Joordens, Matthew 2016, Kinect with ROS, interact with oculus: towards dynamic user interfaces for robotic teleoperation, in SoSE 2016: Proceesings of the 11th IEEE Systems of Systems Engineering Conference: System of systems and cyber physical systems, from academia to application and back, IEEE, Piscataway, N.J., pp. 1-6, doi: 10.1109/SYSOSE.2016.7542940.

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Title Kinect with ROS, interact with oculus: towards dynamic user interfaces for robotic teleoperation
Author(s) Mortimer, Michael
Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Joordens, MatthewORCID iD for Joordens, Matthew orcid.org/0000-0003-2253-4428
Conference name Systems of Systems Engineering. Conference (11th: 2016: Kongsberg, Norway)
Conference location Kongsberg, Norway
Conference dates 12-16 Jun. 2016
Title of proceedings SoSE 2016: Proceesings of the 11th IEEE Systems of Systems Engineering Conference: System of systems and cyber physical systems, from academia to application and back
Publication date 2016
Start page 1
End page 6
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Summary Teleoperation remains an important aspect for robotic systems especially when deployed in unstructured environments. While a range of research strives for robots that are completely autonomous, many robotic applications still require some level of human-in-The-loop control. In any situation where teleoperation is required an effective User Interface (UI) remains a key component within the systems design. Current advancements in Virtual Reality (VR) software and hardware such as the Oculus Rift, HTC Vive and Google Cardboard combined with greater transparency to robotic systems afforded by middleware such as the Robot Operating System (ROS) provides an opportunity to rapidly improve traditional teleoperation interfaces. This paper uses a System of System (SoS) approach to present the concept of a Virtual Reality Dynamic User Interface (VRDUI) for the teleoperation of heterogeneous robots. Different geometric virtual workspaces are discussed and a cylindrical workspace aligned with interactive displays is presented as a virtual control room. A presentation mode within the proposed VRDUI is also detailed, this shows how point cloud information obtained from the Microsoft Kinect can be incorporated within the proposed virtual workspace. This point cloud data is successfully processed into an OctoMap utilizing the octree data structure to create a voxelized representation of the 3D scanned environment. The resulting OctoMap is then displayed to an operator as a 3D point cloud using the Oculus Rift Head Mounted Display (HMD).
ISBN 9781467387279
Language eng
DOI 10.1109/SYSOSE.2016.7542940
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2016, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30086449

Document type: Conference Paper
Collection: School of Engineering
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Created: Wed, 05 Oct 2016, 13:16:21 EST

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