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.