Design and analysis of visualization techniques for mobile robotics development
Date issued
2012
Journal Title
Journal ISSN
Volume Title
Publisher
Václav Skala - UNION Agency
Abstract
Simultaneous localization and mapping (SLAM) algorithms are of vital importance in mobile robotics. This paper
presents novel Augmented Reality (AR) visualization techniques for SLAM algorithms, with the purpose of assisting
algorithm development. We identify important algorithm invariants and parameters and combine research in
uncertainty visualization and AR, to develop novel AR visualizations, which offer an effective perceptual and cognitive
overlap for the observation of SLAM systems. A usability evaluation compares the new techniques with the
state-of-the-art inferred from the SLAM literature. Results indicate that the novel correlation and color-mapping
visualization techniques are preferred by users and more effective for algorithm observation. Furthermore the
AR view is preferred over the non-AR view, while being at least similarly effective. Since the visualizations are
based on general algorithm properties, the results can be transferred to other applications using the same class of
algorithms, such as Particle Filters.
Description
Subject(s)
vizualizace algoritmů, rozšířená realita, robotické programování, rozhraní člověk-robot
Citation
Journal of WSCG. 2012, vol. 20, no. 2, p. 107-116.