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In order to achieve the above-described aims, techniques described
in literature can be used and improved. Specifically, the developed
interface is based on:
Augmented reality As described in section 3, augmented reality is
an extremely convenient method for representation of sensor data.
Since it integrates sensor and visual data inside a single display,
competition for user attention is avoided. Moreover, if sensor data
are represented as immersed in the real workspace, correlation
between sensor data and real objects becomes easy and intuitive.
In the case of a laser-video unified representation, laser distance
data can be visualized directly on the correspondent zones of the
camera image, thus giving a depth dimension to the image.
3D overlays Differently from bidimensional overlays, 3D objects can
be rendered in order to look nearer or further from the view-
point. Depth of 3D graphical objects can be represented through
stereo visualization or, in cases where a single camera is avail-
able, through monocular depth cues (e.g. perspective, occlusion).
Therefore, 3D objects are ideal for communicating depth infor-
mation.
Colors colors being a very effective mean to convey information to
humans, they can be used to make data interpretation faster and
more intuitive. As in [9, 13, 24], the proposed visualization ap-
proach associates different colors to different distance values.
Image processing As described in [54], image processing can be used
to retrieve distance information. This information can be inte-
grated with laser measures to increase range data reliability.
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