360 VR Based Robot Teleoperation Interface for Virtual Tour Yeonju Oh Ramviyas Parasuraman Department of Computer and Information Technology Department of Computer and Information Technology Purdue University Purdue University West Lafayette, IN 47907, USA West Lafayette, IN 47907, USA
[email protected] [email protected] Tim McGraw Byung-Cheol Min Department of Computer and Graphics Technology Department of Computer and Information Technology Purdue University Purdue University West Lafayette, IN 47907, USA West Lafayette, IN 47907, USA
[email protected] [email protected] ABSTRACT VR Display We propose a novel mobile robot teleoperation interface that demon- Remote Environment strates the applicability of robot-aided remote telepresence system 360⁰ Camera with a virtual reality (VR) device in a virtual tour scenario. To im- prove the realism and provide an intuitive replica of the remote Live Streaming Directional environment at the user interface, we implemented a system that Antenna automatically moves a mobile robot (viewpoint) while displaying a 360-degree live video streamed from the robot on a virtual reality User Input Mobile Robot gear (Oculus Rift). Once the user chooses a destination location User among a given set of options, the robot generates a route to the des- tination based on a shortest path graph, and travels along the route Figure 1: Illustrative example of the proposed VR interface. using a wireless signal tracking method that depends on measuring the Direction of Arrival (DOA) of radio signal. In this paper, we Therefore, to mitigate such limitations and to realize a true im- present an overview of the system and the architecture, highlight mersive remote tour experience, this study proposes a system ex- the current progress in the system development, and discuss the ploiting a VR display that produces a (near real-time) stream of implementation aspects of the above system.