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3.6 Egocentric and exocentric teleoperation interface
using real-time, 3D video projection
The paper of Ferland et al. [25] presents an augmented-virtuality-based
interface for mobile robot teleoperation. As the one described in [26],
it displays data from range and video sensors. In addition, it makes use
of different projection methods of the video image in order to increase
the quality of the information provided.
Sensors used consist in a laser range sensor and a couple of stereo
cameras. The laser is used to build a global 2D map of the environ-
ment. The operator interface displays the map as a 3D environment,
visualizing the obstacles detected by the laser as fixed-height walls. A
3D model of the robot is displayed within the 3D environment. Two
viewpoints are available to the operator: an egocentric viewpoint, co-
incident with the position of the stereo camera (figure 15a), and an
exocentric viewpoint, freely positionable in the zone behind and above
the robot (figure 15b).
Figure 15: Egocentric (a) and exocentric (b) viewpoints of the interface presented
in [25].
The video image is mapped on the 3D environment using one of
two projection methods. The laser-based method first projects the 3D
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