Comprehensive data acquisition for a telepresence application

摘要

This contribution presents the newly developed platform for telesensory robotic applications TSR. An operator's PC, which represents the man machine interface, enables an operator to interact with the radio-controlled robot. To provide an impression as close as possible to reality, the transmission and presentation of visual information is of special interest. Therefore, the video streams which are grabbed from a stereo camera system are presented to the operator on a head mounted display such that a three dimensional impression of the robot's environment is achieved. To increase the operator's immersion, additional information of further sensors are presented in the HMD or transformed into forces on haptic input devices. Additionally, the capability of data processing on board TSR allows a (partly) autonomous operating status and the assistance of the operator.