Presence: Teleoperators and Virtual Environments - Premier issue
Fast shadows and lighting effects using texture mapping
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Presence: Teleoperators and Virtual Environments
The blue-c distributed scene graph
EGVE '03 Proceedings of the workshop on Virtual environments 2003
Motion compression for telepresent walking in large target environments
Presence: Teleoperators and Virtual Environments - Special section: Advances in interactive multimodal telepresent systems
ISMAR '05 Proceedings of the 4th IEEE/ACM International Symposium on Mixed and Augmented Reality
The benefits of third-person perspective in virtual and augmented reality?
Proceedings of the ACM symposium on Virtual reality software and technology
Computer Animation and Virtual Worlds
Presence: Teleoperators and Virtual Environments
Content adaptive mesh representation of images using binary space partitions
IEEE Transactions on Image Processing
Dynamic Performance of Mobile Haptic Interfaces
IEEE Transactions on Robotics
A coordinating controller for improved task performance in multi-user teleoperation
EuroHaptics'10 Proceedings of the 2010 international conference on Haptics: generating and perceiving tangible sensations, Part I
Trilateral teleoperation control of kinematically redundant robotic manipulators
International Journal of Robotics Research
Supporting interoperability and presence awareness in collaborative mixed reality environments
Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology
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The presented multi-user telepresence and teleaction system enables two teleoperators, which are independently controlled by two human operators, to perform collaborative actions in a remote environment. The system provides the operators with visual, auditory, and haptic feedback and allows them to physically interact with objects in the remote environment. The interaction between the two human operators is enhanced by augmenting visual and auditory feedback. The paper is focused on the amalgamation of the individual subsystems, which handle the different modalities, into one tightly integrated system, which creates a common workspace for two operators. The overall system architecture and the appropriate design of the auditory, visual, and haptic subsystems are discussed. The audio system makes use of a novel high-fidelity interpolation technique to render three-dimensional sound scenes for both human operators, which enhances their interaction. The design of the video system allows modeling and rendering of the remote environment in real time while regarding changes in the scene by perpetually updating the model. The haptic system is based on admittance-type devices, which are best fitted for applications involving large workspaces and high interaction forces. In addition, the implementation of locomotion techniques for telepresence in large-scale environments are presented. Finally, an application example shows that the system can be successfully employed in a remote maintenance task, which consists of exploring a large-scale environment, moving to the target area, and finally repairing a broken pipe by attaching a sealing clamp. The example demonstrates the necessity of multi-user telepresence and teleaction systems and supports the benefits of consistent multi-modal feedback.