We present and evaluate an approach for human-in-the-loop specification of shape reconstruction with annotations for basic robot-object interactions. Our method is based on the idea of model annotation: the addition of simple cues to an underlying object model to specify shape and delineate a simple task. The goal is to explore reducing the complexity of CAD-like interfaces so that novice users can quickly recover an object's shape and describe a manipulation task that is then carried out by a robot. The object modeling and interaction annotation capabilities are tested with a user study and compared against results obtained using existing approaches. The approach has been analyzed using a variety of shape comparison, grasping, and manipulation metrics, and tested with the PR2 robot platform, where it was shown to be successful.
Display type may play a part on the ability to perform different tasks. In the work done by St @cite_124 a distinction is made between scene understanding and specific tasks involving the precise judgment of relative position. They compared pure 2D interface without projective effects to 3D displays: 2D views of 3D scenes with perspective effects. They reason that, while 3D displays seem compelling, integrated and natural, they can cause ambiguity or distortion by the nature of their presentation in a 2D display. In particular, for tasks requiring the precise relative position of two objects, 2D views proved superior.
@cite_124
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Research on when and how to use three-dimensional (3D) perspective views on flat screens for operational tasks such as air traffic control is complex. We propose a functional distinction between tasks: those that require shape understanding versus those that require precise judgments of relative position. The distortions inherent in 3D displays hamper judging relative positions, whereas the integration of dimensions in 3D displays facilitates shape understanding. We confirmed these hypotheses with two initial experiments involving simple block shapes. The shape-understanding tasks were identification or mental rotation. The relative-position tasks were locating shadows and determining directions and distances between objects. We then extended the results to four experiments involving complex natural terrain. We compare our distinction with the integral separable task distinction of Haskel and Wickens (1993). Applications for this research include displays for air traffic control, geoplots for military command and control, and potentially, any display of 3D information. It has been known for some time that larger graphs can be interpreted if laid out in 3D and displayed with stereo and or motion depth cues to support spatial perception. However, prior studies were carried out using displays that provided a level of detail far short of what the human visual system is capable of resolving. Therefore, we undertook a graph comprehension study using a very high resolution stereoscopic display. In our first experiment, we examined the effect of stereoscopic display, kinetic depth, and using 3D tubes versus lines to display the links. The results showed a much greater benefit for 3D viewing than previous studies. For example, with both motion and stereoscopic depth cues, unskilled observers could see paths between nodes in 333 node graphs with less than a 10p error rate. Skilled observers could see up to a 1000-node graph with less than a 10p error rate. This represented an order of magnitude increase over 2D display. In our second experiment, we varied both nodes and links to understand the constraints on the number of links and the size of graph that can be reliably traced. We found the difference between number of links and number of nodes to best account for error rates and suggest that this is evidence for a “perceptual phase transition.” These findings are discussed in terms of their implications for information display. An experiment is reported which tests whether network information is more effectively displayed in a three dimensional space than in a two dimensional space. The experimental task is to trace a path in a network and the experiment is carried out in 2D, in a 3D stereo view, in a 2D view with head coupled perspective, and in a 3D stereo view with head coupled perspective; this last condition creates a localized virtual reality display. The results show that the motion parallax obtained from the head coupling of perspective is more important than stereopsis in revealing structural information. Overall the results show that three times as much information can be perceived in the head coupled stereo view as in the 2D view. > Stereoscopic 3D (S3D) movies have become widely popular in the movie theaters, but the adoption of S3D at home is low even though most TV sets support S3D. It is widely believed that S3D with glasses is not the right approach for the home. A much more appealing approach is to use automulti-scopic displays that provide a glasses-free 3D experience to multiple viewers. A technical challenge is the lack of native multiview content that is required to deliver a proper view of the scene for every viewpoint. Our approach takes advantage of the abundance of stereoscopic 3D movies. We propose a real-time system that can convert stereoscopic video to a high-quality multiview video that can be directly fed to automultiscopic displays. Our algorithm uses a wavelet-based decomposition of stereoscopic images with per-wavelet disparity estimation. A key to our solution lies in combining Lagrangian and Eulerian approaches for both the disparity estimation and novel view synthesis, which leverages the complementary advantages of both techniques. The solution preserves all the features of Eulerian methods, e.g., subpixel accuracy, high performance, robustness to ambiguous depth cases, and easy integration of inter-view aliasing while maintaining the advantages of Lagrangian approaches, e.g., robustness to large disparities and possibility of performing non-trivial disparity manipulations through both view extrapolation and interpolation. The method achieves real-time performance on current GPUs. Its design also enables an easy hardware implementation that is demonstrated using a field-programmable gate array. We analyze the visual quality and robustness of our technique on a number of synthetic and real-world examples. We also perform a user experiment which demonstrates benefits of the technique when compared to existing solutions.