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4.2 Mobile robotic teleguide based on video images
The work of Livatino et al. [59] performs a systematic evaluation of the
impact of different stereoscopic visualization modes on performance in
telerobotics tasks. The paper describes the design of the evaluation
experiment and presents and analyses its results.
The experiment involved 12 participants. Each of them executed a
simple teleguide task, which consisted in teleoperating the 3MORDUC
platform (located at DIEES, Catania, in Italy) from the University of
Aalborg (Denmark). The participants were able to visualize the video
data from 3MORDUC cameras. Each of the participants executed the
task using two different visualization setups: a 15” laptop and a 2
× 2 projected wall display. Besides, the task was executed twice for
each setup, using respectively monoscopic and stereoscopic visualiza-
tion. Within the laptop setup, stereoscopic visualization used colored
anaglyph, while within the wall display setup it used polarized projec-
tion.
A set of both qualitative and quantitative parameters were evalu-
ated during the trials. A 2-way ANOVA (ANalysis Of VAriance) was
performed to measure statistical significance of quantitative results.
The results show that stereo visualization introduces a significant reduc-
tion of the collision rate. This is because stereo visualization strongly
enhances the sense of depth of the visualized scene. Furthermore, re-
alism and sense of presence of the user in the remote environment are
higher in respect to monoscopic visualization.
As regards the comparison between the laptop and wall display
setups, it has been shown that in the laptop setup users benefit from
a stronger depth perception and obtain a lower number of collisions.
Instead, since the wall display causes a wider use of peripheral vision,
it generates a higher sense of presence and confidence, which implicate
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