Time Follower's Vision: A Teleoperation Interface with Past Images
IEEE Computer Graphics and Applications
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Ecological Interfaces for Improving Mobile Robot Teleoperation
IEEE Transactions on Robotics
Human-robot interaction in rescue robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
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Civilian applications for UAVs will bring these vehicles into low flying areas cluttered with obstacles such as building, trees, power lines, and more importantly civilians. The high accident rate of UAVs means that civilian use will come at a huge risk unless we design systems and protocols that can prevent UAV accidents, better train operators and augment pilot performance. This paper presents two methods for generating a chase view to the pilot for UAV operations in cluttered environments. The chase view gives the operator a virtual view from behind the UAV during flight. This is done by generating a virtual representation of the vehicle and surrounding environment while integrating it with the real-time onboard camera images. Method I presents a real-time mapping approach toward generating the surrounding environment and Method II uses a prior model of the operating environment. Experimental results are presented from tests where subjects flew in a H0 scale environment using a 6 DOF gantry system. Results showed that the chase view improved UAV operator performance over using the traditional onboard camera view.