TAILIEUCHUNG - Software Engineering for Experimental Robotics - Davide Brugali et al Part 5

Tham khảo tài liệu 'software engineering for experimental robotics - davide brugali et al part 5', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Software Environments for Robot Programming 117 I I Robot Perceptual Space I I Human Perceptual Space Fig. 3. Shared human-robot perceptual space. Shared Perceptual Space AR for Developer Interaction AR provides an ideal presentation of the robot s world view it displays robot data layered within the real environment. By viewing the data in context with the real world the developer is able to compare the robot s world view against the ground truth of the real world image without needing to know the exact state of the world at all times. This makes clear not only the robot s world view but also the discrepancies between the robot s view and reality. The main challenge in AR is to accurately track the human user so that the overlaid data is accurately positioned when the human viewer changes position and orientation. However this is generally a simpler problem than the alternative which is to track the entirety of a potentially large and dynamic real world environment and explicitly calculate a comparison between the robot view and the actual world view. Related Work Player PSP2005 has a built in tool playerv for visualising its interfaces. However this tool provides the visualisation in isolation. By providing an AR interface for the visualisation we show the data in context with the real objects making understanding the data more intuitive. Shikata et al SGNI2003 present an algorithm evaluation system that uses virtual robots in a virtual world to test the performance of avoidance algorithms when human users are involved. The main advantage is that a real human is used rather than a scripted one thus giving more accurate behaviour while at the same time the virtual robots mean there are no safety issues. In particular the system is used to test avoidance algorithms with no danger to the human user from collisions occurring when the algorithm fails. Milgram et al used AR in creating a virtual measuring tape and a virtual tether to assist inserting a peg in a .

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