Footprint evaluation for volume rendering
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Teleprogramming: toward delay-invariant remote manipulation
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
View interpolation for image synthesis
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
IRIS performer: a high performance multiprocessing toolkit for real-time 3D graphics
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Plenoptic modeling: an image-based rendering system
SIGGRAPH '95 Proceedings of the 22nd annual conference on Computer graphics and interactive techniques
Modeling and rendering architecture from photographs: a hybrid geometry- and image-based approach
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Geometry and texture recovery of scenes of large scale
Computer Vision and Image Understanding
Casting curved shadows on curved surfaces
SIGGRAPH '78 Proceedings of the 5th annual conference on Computer graphics and interactive techniques
A multi-camera method for three-dimensional digitization of dynamic, real-world events
A multi-camera method for three-dimensional digitization of dynamic, real-world events
Approaches to Large-Scale Urban Modeling
IEEE Computer Graphics and Applications
An Automated Method for Large-Scale, Ground-Based City Model Acquisition
International Journal of Computer Vision
Geometric Context from a Single Image
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision (ICCV'05) Volume 1 - Volume 01
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
International Journal of Robotics Research
A Generative Model of Terrain for Autonomous Navigation in Vegetation
International Journal of Robotics Research
Egocentric and exocentric teleoperation interface using real-time, 3D video projection
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
A scanning laser rangefinder for a robotic vehicle
IJCAI'77 Proceedings of the 5th international joint conference on Artificial intelligence - Volume 2
The revisiting problem in mobile robot map building: a hierarchical bayesian approach
UAI'03 Proceedings of the Nineteenth conference on Uncertainty in Artificial Intelligence
Ecological Interfaces for Improving Mobile Robot Teleoperation
IEEE Transactions on Robotics
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The task of teleoperating a robot over a wireless video link is known to be very difficult. Teleoperation becomes even more difficult when the robot is surrounded by dense obstacles, or speed requirements are high, or video quality is poor, or wireless links are subject to latency. Due to high-quality lidar data, and improvements in computing and video compression, virtualized reality has the capacity to dramatically improve teleoperation performance 芒聙聰 even in high-speed situations that were formerly impossible. In this paper, we demonstrate the conversion of dense geometry and appearance data, generated on-the-move by a mobile robot, into a photorealistic rendering model that gives the user a synthetic exterior line-of-sight view of the robot, including the context of its surrounding terrain. This technique converts teleoperation into virtual line-of-sight remote control. The underlying metrically consistent environment model also introduces the capacity to remove latency and enhance video compression. Display quality is sufficiently high that the user experience is similar to a driving video game where the surfaces used are textured with live video.