NDLI: Simultaneous Motion Compression for Multi-User Extended Range Telepresence

Content Provider	IEEE Xplore Digital Library
Author	Rossler, P. Hanebeck, U.D.
Copyright Year	2006
Description	Author affiliation: Inst. of Comput. Sci. & Eng., Karlsruhe Univ. (Rossler, P.; Hanebeck, U.D.)
Abstract	Extended range telepresence allows a human user to intuitively teleoperate a mobile robot through arbitrarily large remote environments by natural walking. In order to give the user the possibility to navigate the robot through an arbitrarily large remote environments, while his own environment is of limited size, motion compression is used. The motion compression framework provides a nonlinear transformation between the user's path and the robot's path, which preserves path length and turning angles. There is, however, a difference in path curvature, which is minimized in order to guarantee a high degree of immersion. A major drawback of the current system is its inability to deal with non-convex time-variant environments or environments shared by multiple users. This paper presents a systematic approach to extending motion compression to non-convex environments. This solution will then be used to cover the multi-user case
Starting Page	5189
Ending Page	5194
File Size	275455
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281656
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Teleoperators Humans Navigation Robot sensing systems Intelligent robots Mobile robots Turning Robot vision systems Cameras
Content Type	Text
Resource Type	Article

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