Feedback Controlled Motion Compression for Extended Range Telepresence

Telepresence aims at giving a human user the
impression of being present in a remote environment. This
is achieved by having a robot, that is actually present in the
remote environment, gather visual data. This data is presented
to the user, who is wearing a head mounted display. In order
to extend telepresence to an intuitive user interface for robot
teleoperation, the user’s motion is tracked and replicated by
the robot. The user can now interact more naturally with
the remote environment simply by walking around. Without
further processing of the motion data, the size of the remote
environment is limited to the size of the user environment.
Using the motion compression algorithm allows users to be
telepresent in large target environments while the size of the
user environment is limited. However, as a consequence of
the influence of standard motion compression on the user’s
natural navigation, he tends to leave the desired path. This can
even lead to users leaving the user environment. We address
this problem by introducing controlled motion compression
which adds a feedback controller to motion compression.
This controller modifies the user’s perception of the target
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environment in such a way, that he is controlled on the path.