Page - 23 - in Joint Austrian Computer Vision and Robotics Workshop 2020
Image of the Page - 23 -
Text of the Page - 23 -
To enable accurate tele-operation, the LIDARs
were used in combination with appropriate software
(see section 2.4) to generate a 2D and 3D map of
the environment, giving the user insights into the
environment from Robbie’s point of view (POV), as
showninfigure3(8) (7). Toinclude theenvironment
behind Robbie, which cannot be captured by the
3D LIDAR an RGB-Depth (RGB-D) camera, the
Intel D435 [18], has been mounted slightly facing
downwards on the sensor tower of the mobile robot.
An additional Intel D435 was mounted on the base
plate of the EEF to facilitate tele-operation of the
EEF and Image Based Visual Servoing (IBVS) [4].
In addition, a Phidgets Spatial Inertial Measurement
Unit (IMU) was mounted on the base platform to
improve localization using sensor fusion such as
Extend Kalman Filters and to provide input for
tip-over control [5, 20, 23]. To enable an elevated
POV, a universal camera mount with an attached
Ueye UI-3240LE [17] camera was mounted on
the sensor rig. Finally, to enable radioactive and
nuclear (RN) detection, the robot was equipped with
a radiometerSSM1+[29].
The processing of this sensor data is a computa-
tionally complex process, so an industrial computer
with the following specifications was also installed
onRobbie’sbaseplatform:
• 1 × Intel Core(TM) i7-7700T (4 Cores, 8
Threads)@2.90GHz
• 1×GeForceGTX1050Ti
• 2×16GBDDR42133MHz
The visualization of these different sensor read-
ings isadifficult task. Thereforean intuitiveGUIfor
Robbiewasdeveloped,whichisdiscussedinthenext
section followedby the implementedsoftware.
2.3.UserInterface
The user interface is the essential component for
promoting situational awareness [24]. To underline
this statement, the reader’s attention is drawn to the
fact that anS&Rrobotwas rejected in the tragedyof
9.11. becauseofa toocomplexuser interface [24].
Figure 3 shows the operator station, of the UAS
TechnikumVienna,withtheassociateduser interface
and controlpanel.
As depicted on the left hand side of figure 3 the
user interface is split into threeparts: 1. Log-Screen /Commandinput (Figure3 (1))
All log messages of the running software are
displayed here, this is a necessity to detect soft-
ware system errors. In addition, these terminal
windows can be used to start/restart any soft-
ware modules, this allows a maximum level of
flexibility.
2. GUI (Figure3 (2))
TheGUIallows theoperator toperceive theen-
vironment from Robbie’s POV, which is a ne-
cessityforS&Rrobots[24]. This isachievedby
livestreamsfromthecameras(8). In thedefault
configuration, the internal, forward and back-
ward facing cameras of the tracker and the el-
evatedRGBcameraarestreamed. Furthermore,
the 2D map generated by the SLAM approach
discussedinsection2.4 isvisualizedin themid-
dle partof the GUI as shown in (7), providinga
bird’s eye view for the operator. Finally, sensor
values (4), suchas the internal temperature,bat-
teryvoltageandestimatedtimetoshutdownand
the detected emitted radiation are displayed in
counts per second. The developed GUI thus vi-
sualizesallsuggestionsforagooduser interface
evaluated in [24], which further enables the op-
timization and interoperability of the available
resources and accelerates access to the victims
[7]. In addition, it is also possible to visualize
additional sensor values and information by a
simple mouse click (5), such as a 3D map, the
additionalcameraonthegripper, thebackwards
Figure 3. left: Complete operator station right: GUI (1)
Logscreen / Command input, (2) GUI depicted in more
detail on the right, (3) Control panel for teleoperation,
(4) Sensor readings and emergency of switch, (5) Topic
visualisation checkbox, (6) Additional teleoperation tool-
box, (7)Mapvisualisationtoolbox, (8)Imagestreamfrom
Robbie’s POV
23
Joint Austrian Computer Vision and Robotics Workshop 2020
- Title
- Joint Austrian Computer Vision and Robotics Workshop 2020
- Editor
- Graz University of Technology
- Location
- Graz
- Date
- 2020
- Language
- English
- License
- CC BY 4.0
- ISBN
- 978-3-85125-752-6
- Size
- 21.0 x 29.7 cm
- Pages
- 188
- Categories
- Informatik
- Technik