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@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. },
}