A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

Wai Keung Fung; Wang Tai Lo; Yun Hui Liu; Ning Xi

doi:10.1109/IROS.2005.1545299

A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

Wai Keung Fung^*, Wang Tai Lo, Yun Hui Liu, Ning Xi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Citations (Scopus)

Abstract

This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the robot workspace are provided for remote operator. However, it is difficult for the operator to control remote robot to perform dexterous tasks by looking at multiple video feedbacks at the same time. During teleoperation, remote operators usually find multiple 2D visual feedbacks confusing, especially when performing dexterous tasks that require accurate positioning and orientating of robot end-effectors. In this paper, we propose to provide single real-time 3D stereoscopic visual feedback for remote operators so that they perceive remote robot workspace with the sense of depth. This sense of 3D empowers remote operators to accurately position and orient robot end-effector with confidence. Experiments have been conducted to reveal the usefulness of real-time 3D stereoscopic video feedback over multiple monoscopic video feedback in real-time teleoperation.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	IEEE Computer Society
Pages	181-186
Number of pages	6
ISBN (Print)	0780389123, 9780780389120
DOIs	https://doi.org/10.1109/IROS.2005.1545299
Publication status	Published - 5 Dec 2005
Externally published	Yes
Event	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems - Edmonton, Canada Duration: 2 Aug 2005 → 6 Aug 2005

Conference

Conference	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Canada
City	Edmonton
Period	2/08/05 → 6/08/05

Keywords

3D stereoscopy
Passive stereo
Tele-reality
Teleoperation

Access to Document

10.1109/IROS.2005.1545299

Cite this

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title = "A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation",

abstract = "This paper reports a case study of using single 3D stereoscopic visual feedback for real-time teleoperation of dexterous tasks. In traditional teleoperation systems, real-time visual feedbacks of multiple monoscopic views of the robot workspace are provided for remote operator. However, it is difficult for the operator to control remote robot to perform dexterous tasks by looking at multiple video feedbacks at the same time. During teleoperation, remote operators usually find multiple 2D visual feedbacks confusing, especially when performing dexterous tasks that require accurate positioning and orientating of robot end-effectors. In this paper, we propose to provide single real-time 3D stereoscopic visual feedback for remote operators so that they perceive remote robot workspace with the sense of depth. This sense of 3D empowers remote operators to accurately position and orient robot end-effector with confidence. Experiments have been conducted to reveal the usefulness of real-time 3D stereoscopic video feedback over multiple monoscopic video feedback in real-time teleoperation.",

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booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems",

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Fung, WK, Lo, WT, Liu, YH & Xi, N 2005, A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems., 1545299, IEEE Computer Society, pp. 181-186, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alberta, Canada, 2/08/05. https://doi.org/10.1109/IROS.2005.1545299

A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation. / Fung, Wai Keung; Lo, Wang Tai; Liu, Yun Hui et al.
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Computer Society, 2005. p. 181-186 1545299.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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A case study of 3D stereoscopic vs. 2D monoscopic tele-reality in real-time dexterous teleoperation

Abstract

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Keywords

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