Uncertainty Estimation in Vision-Aided Robot Teleoperation System

Uncertainty Estimation in Vision-Aided Robot Teleoperation System

Vyas, Shubham (TU Delft Aerospace Engineering; TU Delft Space Engineering)

Verhoeven, C.J.M. (mentor)
Krueger, Thomas (mentor)
Schiele, A. (mentor)
Gill, E.K.A. (graduation committee)
de Croon, G.C.H.E. (graduation committee)

Delft University of Technology

Aerospace Engineering

2018-01-12

Teleoperation allows the use of human intelligence and decision making in remote tasks which are too dangerous for humans to perform. Technologies such as force feedback and haptic guidance have shown to increase task efficiency during teleoperation. In an unmodeled environment, sensors provide input for haptic guidance or present extra information about the environment to the user in order to make decisions and to perform the tasks. These sensors come with inherent errors and uncertainties which propagate through the teleoperation system. The absence of knowledge of these errors has been shown to cause deterioration in the task performance. These errors can further cause the application of forces on the environment by the robot without the knowledge of the user while using haptic guidance. Thereby, the strategies being used to increase task performance can have some adverse hidden effects. Thus, it crucial to have an understanding of the behaviour of the errors and uncertainties in the system. It is considered critical for making decisions about how the robot system can be controlled and used to manipulate objects remotely.

In this thesis, a novel framework for estimating the uncertainties in a vision-aided teleoperation system in real-time is introduced. The uncertainty estimate can then be used by the control system or communicated to the user. Methods to use the uncertainty estimate for haptic guidance and for user display are proposed. Furthermore, the thesis analyzes the behaviour of the uncertainties in the system and the sensitivity of the system to individual component errors. It evaluates the uncertainties in individual components of the system and implements an uncertainty model for each of them. It then provides a method to propagate these uncertainty models through the system. This results in a final uncertainty estimate in the frame of reference of interest for the task. Experiments were performed to validate the component uncertainty models, the propagation method, and the system as a whole. Additionally, an inverse of the propagation method is also conceived so as to obtain the component accuracy specification from system uncertainty requirements. This can be used in the design of future teleoperation systems.

space robotics
Teleoperation
uncertainty
estimation
computer vision
Robotics
3d vision
stereo camera
motion capture system
Framework

http://resolver.tudelft.nl/uuid:4a03785d-8822-4548-a24a-7b23b1a4232c

Student theses

master thesis

© 2018 Shubham Vyas