Translucent view for robot tele-operation

This paper proposes a presentation method of translucent view of occluding objects in working environment for robot tele-operation. Though vision is important and useful for tele-operators to obtain working environmental information, target objects in performing tasks, especially in manipulation tasks, may be occluded by the body or the robot arm. If the operators can see the target objects through the occluding objects, tele-operation using vision becomes easier. The translucent view is generated from the cameras on the robot and/or around the robot's working environment. The translucent view is applicable in a presentation method, object-centered view (OV), where a target object in performing tasks is always centered at the view. Tele-operators can perform tasks efficiently using translucent view in the object-centered view.