Adaptive view management for drone teleoperation in complex 3D structures

John Thomason, Photchara Ratsamee, Kiyoshi Kiyokawa, Pakpoom Kriangkomol, Jason Orlosky, Tomohiro Mashita, Yuki Uranishi, Haruo Takemura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Scopus citations


Drone navigation in complex environments poses many problems to teleoperators. Especially in 3D structures like buildings or tunnels, viewpoints are often limited to the drone's current camera view, nearby objects can be collision hazards, and frequent occlusion can hinder accurate manipulation. To address these issues, we have developed a novel interface for teleoperation that provides a user with environmentadaptive viewpoints that are automatically configured to improve safety and smooth user operation. This real-Time adaptive viewpoint system takes robot position, orientation, and 3D pointcloud information into account to modify userviewpoint to maximize visibility. Our prototype uses simultaneous localization and mapping (SLAM) based reconstruction with an omnidirectional camera and we use resulting models as well as simulations in a series of preliminary experiments testing navigation of various structures. Results suggest that automatic viewpoint generation can outperform first and third-person view interfaces for virtual teleoperators in terms of ease of control and accuracy of robot operation.

Original languageEnglish (US)
Title of host publicationIUI 2017 - Proceedings of the 22nd International Conference on Intelligent User Interfaces
PublisherAssociation for Computing Machinery
Number of pages8
ISBN (Electronic)9781450343480
StatePublished - Mar 7 2017
Externally publishedYes
Event22nd International Conference on Intelligent User Interfaces, IUI 2017 - Limassol, Cyprus
Duration: Mar 13 2017Mar 16 2017

Publication series

NameInternational Conference on Intelligent User Interfaces, Proceedings IUI


Conference22nd International Conference on Intelligent User Interfaces, IUI 2017


  • Adaptive view
  • Drone
  • Navigation
  • Virtual reality

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction


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