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

What is it about?

This paper addresses problems caused by time delay in telerobotic operation using a drone-mounted vision system. A new predictive display algorithm is presented that uses a heterogeneous stereo camera system -- a conventional camera and an omnidirectional camera -- to mitigate large delays that may be present in a drone-based telerobotic system, especially when virtual augmentations are superposed on the live video imagery. Using results from human performance experiments, the paper shows that human operators perform considerably better when the predictive display is active than in cases without any prediction.

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