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3.5 Ecological interfaces for improving mobile robot
teleoperation
The work of Nielsen et al. [26] describes an interface for mobile robot
teleoperation based on ecological [56] interface design and augmented
virtuality. Different versions of the same interface are compared, show-
ing that integration of sensor data gives better results for navigation
than displaying results separately.
The presented interface displays a map of the environment recon-
structed from range sensors (laser, sonar) together with a video image
from the remote site. The 2D version of the interface shows video and
map one beside the other; instead, the 3D version shows a 3D model
of the robot within a 3D representation of the map. The 3D map is
created by elevating obstacles to a fixed height. The viewpoint is posi-
tioned little behind the robot, and video data is visualized in a window
in front of the robot model (figure 14).
Figure 14: 3D interface presented in [26].
Tests performed on the different versions prove that the 3D version
of the interface generates always better results than the 2D version.
Moreover, it is shown that operators which use the 2D version do not
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