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Open Access Subjective comparison of monocular and stereoscopic vision in teleoperation of a robot arm manipulator

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Remote operation of robot manipulators plays a crucial role in various safety-critical application areas such as forestry, mining, surveillance, etc. The capture and display of visual information of the real operation environment in an information-rich way is one of the key factors in achieving effective and robust teleoperation capability. In this paper, through subjective experiments, we comparatively investigate the roles of monocular, i.e. 2D, and stereo capture and display systems in the context of teleoperation of a robot arm. In particular, the positioning task is considered and, for both monocular and stereoscopic cases, two different modes of capture are implemented, which are static capture setup separately located from the robot arm and dynamic capture setup positioned at the tip of the robot arm. The experiments, conducted on 10 subjects (aged 24-33), show that stereo vision systems enable significant increase in accuracy of positioning compared to conventional 2D capture and display cases. In average, the tasks are completed with highest accuracy in the case of dynamic stereo capture setup.
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Keywords: machine vision; robot manipulators; robotic arm; subjective experiments; teleoperation

Document Type: Research Article

Publication date: January 13, 2019

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  • For more than 30 years, the Electronic Imaging Symposium has been serving those in the broad community - from academia and industry - who work on imaging science and digital technologies. The breadth of the Symposium covers the entire imaging science ecosystem, from capture (sensors, camera) through image processing (image quality, color and appearance) to how we and our surrogate machines see and interpret images. Applications covered include augmented reality, autonomous vehicles, machine vision, data analysis, digital and mobile photography, security, virtual reality, and human vision. IS&T began sole sponsorship of the meeting in 2016. All papers presented at EIs 20+ conferences are open access.

    Please note: For purposes of its Digital Library content, IS&T defines Open Access as papers that will be downloadable in their entirety for free in perpetuity. Copyright restrictions on papers vary; see individual paper for details.

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