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ARSEA: A Virtual Reality Subsea Exploration Assistant

ARSEA: A Virtual Reality Subsea Exploration Assistant
ARSEA: A Virtual Reality Subsea Exploration Assistant
This paper presents a new application designed and developed to teleoperate underwater vehicles from a comfortable and immersive virtual reality environment. This environment is developed in Unity with the Oculus Rift as a visualizer, and communicates with the ROS-based underwater robot architecture via a Unity-ROS-bridge library. The proposed controlling system offers two main utilities: a) it permits to command the vehicle with two Oculus Touch Controllers, and b) contrarily to traditional Remotely Operated Vehicle (ROV) control panels, this environment shows an accumulative 3D reconstruction of the whole zone explored by the robot. The proposed solution also offers, inside the virtual environment, complete navigation data, such as, vehicle speed, global pose and distance to the bottom and the original images captured by the vehicle cameras, facilitating its continuous and on-line analysis and the process of navigation decision taking. Teleoperation experiments have been conducted with a simulated robot in an simulated aquatic environment, while environment perception experiments have been done reproducing ROS log files which contain stereo video sequences taken by the vehicle in real marine scenarios. The stereo images have been used to reconstruct the natural scenarios in the virtual reality environment.
Underwater vehicles, teleoperation, virtual reality
2405-8963
26-31
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Massot Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Burguera, Antoni Burguera
27603c53-a0fb-4af8-9088-ca474d1cd316
Bonin-Font, Francisco
c5618f01-7ab3-440c-9551-f2db395d82c3
Massot Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Burguera, Antoni Burguera
27603c53-a0fb-4af8-9088-ca474d1cd316

Bonin-Font, Francisco, Massot Campos, Miquel and Burguera, Antoni Burguera (2018) ARSEA: A Virtual Reality Subsea Exploration Assistant. IFAC-PapersOnLine, 51 (29), 26-31. (doi:10.1016/j.ifacol.2018.09.464).

Record type: Article

Abstract

This paper presents a new application designed and developed to teleoperate underwater vehicles from a comfortable and immersive virtual reality environment. This environment is developed in Unity with the Oculus Rift as a visualizer, and communicates with the ROS-based underwater robot architecture via a Unity-ROS-bridge library. The proposed controlling system offers two main utilities: a) it permits to command the vehicle with two Oculus Touch Controllers, and b) contrarily to traditional Remotely Operated Vehicle (ROV) control panels, this environment shows an accumulative 3D reconstruction of the whole zone explored by the robot. The proposed solution also offers, inside the virtual environment, complete navigation data, such as, vehicle speed, global pose and distance to the bottom and the original images captured by the vehicle cameras, facilitating its continuous and on-line analysis and the process of navigation decision taking. Teleoperation experiments have been conducted with a simulated robot in an simulated aquatic environment, while environment perception experiments have been done reproducing ROS log files which contain stereo video sequences taken by the vehicle in real marine scenarios. The stereo images have been used to reconstruct the natural scenarios in the virtual reality environment.

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More information

e-pub ahead of print date: 11 October 2018
Published date: 2018
Keywords: Underwater vehicles, teleoperation, virtual reality

Identifiers

Local EPrints ID: 428786
URI: http://eprints.soton.ac.uk/id/eprint/428786
ISSN: 2405-8963
PURE UUID: 978d37bb-199b-434b-be64-af358b20fc9b
ORCID for Miquel Massot Campos: ORCID iD orcid.org/0000-0002-1202-0362

Catalogue record

Date deposited: 08 Mar 2019 17:30
Last modified: 23 Jul 2020 00:46

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