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4.3 Depth-enhanced mobile robot teleguide based
on laser images
The work of Livatino et al. [60] performs a systematical evaluation
analogue to the one described in [59]. Though, the evaluated teleguide
interface displays synthetic images generated by laser scans instead than
real camera images. In this telerobotic system, laser data is processed
Figure 19: The process of generating 3D graphical environment views from laser
range information. The top-left image shows a 2D floor map generated by the laser
sensor. The bottom-left image shows a 3D extrapolation of a portion of it. The
right-image shows a portion of the workspace visible to a user during navigation.
[60]
on the robot to construct in real-time 2D maps of the robot surrounding
workspace in real-time. A 3D representation is extrapolated from the
2D maps by elevating wall lines and obstacle posts. A current front-
view of the robot workspace is then generated and displayed to the user
by using graphical software (figure 19). The teleoperation task to be
executed by the participants and the visualization setups used during
the experiment were the same used in [59].
As regards the stereo-mono and the laptop-wall comparisons for the
laser-based visualization interface, the results obtained are analogue to
the ones exposed in [59]. It can be deduced that stereoscopic visualiza-
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