基于以太网的人形遥操作立体低延迟视觉系统

Jae-Wook Shin, June-Sung Ahn, Jaeheung Park
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引用次数: 2

摘要

尽管近年来人工智能兴起,但机器人在非结构化环境中的自动操作仍然不足以执行复杂和详细的任务,需要人工远程操作。提高这种远程操作效率的最重要的是视觉系统,使人类操作员能够识别机器人周围的情况。在构建系统时,考虑了操作者的沉浸式体验。提出了低延迟和曲面渲染,为操作员提供沉浸式体验。此外,考虑到操作者在远程操作过程中因虚拟现实病而产生的疲劳,提出了减少虚拟现实病的建议。最后,为了检查整个系统的视觉反馈延迟,我们对显示到显示的延迟进行了定量测量。本文介绍了一种基于虚拟现实技术的仿人机器人远程操作视觉系统的实现。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Stereoscopic low-latency vision system via ethernet network for Humanoid Teleoperation
Despite the recent rise of artificial intelligence, the automatic operation of the robot in an unstructured environment is still insufficient to perform complicated and detailed tasks and requires remote operation by a human. The most important thing to improve the efficiency of such Teleoperation is the vision system that enables the human operator to recognize the surrounding situation of the robot. While constructing the system, immersive experience for the operator was considered. Low latency and curved plane rendering are proposed to provide an immersive experience for operators. Moreover, considering the operator’s exhaustion during the teleoperation that comes from Virtual Reality sickness, the reduction of Virtual Reality sickness is also suggested. Finally, to check the entire system’s visual feedback latency, display-to-display latency is quantitatively measured. This paper presents an implementation of a vision system for the Teleoperation of humanoid robots through Virtual Reality.
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