Gal A. Kaminka's Publications

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A Novel User-Guided Interface for Robot Search

Shahar Kosti, Gal A. Kaminka, and David Sarne. A Novel User-Guided Interface for Robot Search. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-14), 2014.

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Abstract

Human operators play a key role in robotic exploration and search missions, as the interpretation of camera images typically requires the visual perception skills of humans. Thus one the key challenges in building effective robotic systems for such missions lies in developing good operator interfaces. In this paper, we present a novel asynchronous user-guided interface for human operators of robotic search of an unknown area. Enabled by efficient methods to store and retrieve recorded images (and meta information) in real-time, our interface allows the operator to click on any point of interest. The operator is then presented with highly-relevant images that cover the point, without occlusion. This, in contrast with system-guided approaches, where an automated system selects areas and images for inspection. Experiments with 32 human subjects in two different-size maps favor the user-guided approach we present over the system-guided approach. Additional experiments with human subjects provide an explanation as to the environment characteristics that favor our approach.

BibTeX

@InProceedings{iros14shahar,
 author = {Shahar Kosti and Gal A. Kaminka and David Sarne},
 title  = {A Novel User-Guided Interface for Robot Search},
 year   = {2014},
 booktitle = IROS-14,
 abstract = {
 Human operators play a key role in robotic exploration and search missions, 
 as the interpretation of camera images typically requires the visual perception skills of 
 humans. Thus one the key challenges in building effective robotic systems for such missions 
 lies in developing good operator interfaces. In this 
   paper, we present a novel asynchronous user-guided interface for 
   human operators of robotic search of an unknown 
   area. Enabled by efficient methods to store and retrieve recorded 
   images (and meta information) in real-time, our interface allows the 
   operator to click on any point of interest. The operator is 
   then presented with highly-relevant images that cover the point, 
   without occlusion. This, in contrast with system-guided approaches, where an 
   automated system selects areas and images for inspection. Experiments with 32 
   human subjects in two different-size maps favor the user-guided approach 
   we present over the system-guided approach.  Additional experiments with  
   human subjects provide an explanation as to the environment 
   characteristics that favor our approach. },  
}

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