Augmented Reality with Multi-view Merging for Robot Teleoperation

摘要

This paper proposes a user-friendly teleoperation interface for manipulation. We provide the user with a view of the scene augmented with depth information from local cameras to provide visibility in occluded areas during manipulation tasks. This gives an improved sense of the 3D environment which results in better task performance. Further, we monitor the pose of the robot's end effector in real-time so that we are able to superimpose a virtual representation into the scene when parts are occluded. The integration of these features enables the user to perform difficult manipulation tasks when the action environment is normally occluded in the main camera view.