Time Delay Mitigation in Aerial Telerobotic Operations Using Heterogeneous Stereo-Vision Systems

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dc.contributor.authorSakib, Nazmusen
dc.contributor.authorGahan, Kenneth C.en
dc.contributor.authorWoolsey, Craig A.en
dc.date.accessioned2024-11-06T15:07:24Zen
dc.date.available2024-11-06T15:07:24Zen
dc.date.issued2023-09en
dc.description.abstractThis paper investigates the use of a heterogeneous stereo-vision system to mitigate the effects of time delays in a drone-based visual interface presented to a human operator. Time delays in the display for a telerobotic interface refer to the time difference between the operator’s input action and the corresponding visible outcome. In human/machine interfaces, time delays can arise due to computation, telecommunication, and mechanical limitations. These delays can degrade the performance of the human/machine system. A heterogeneous stereo-vision predictive algorithm is presented that can reduce the negative effects of time delays in the operator’s display. The heterogeneous stereo-vision system consists of an omnidirectional camera and a pan/tilt/zoom camera. Two predictive display setups were developed that modify the delayed video imagery that would otherwise be presented to the operator in a way that provides an almost immediate visual response to the operator’s control actions. The usability of the system is determined through human performance testing with and without the predictive algorithms. The results indicate that the predictive algorithm allows more efficient, accurate, and user-friendly operation.en
dc.description.sponsorshipThe work in this paper was supported by the National Science Foundation under grant number IIS-1840044.en
dc.description.versionAccepted versionen
dc.format.extentpp. 526-545en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.2514/1.I011204en
dc.identifier.issue9en
dc.identifier.orcidWoolsey, Craig A. [0000-0003-3483-7135]en
dc.identifier.urihttps://hdl.handle.net/10919/121564en
dc.identifier.volume20en
dc.language.isoenen
dc.publisherAmerican Institute of Aeronautics and Astronauticsen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.titleTime Delay Mitigation in Aerial Telerobotic Operations Using Heterogeneous Stereo-Vision Systemsen
dc.title.serialJournal of Aerospace Information Systemsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten

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