Towards Real-Time Generation of Delay-Compensated Video Feeds for Outdoor Mobile Robot Teleoperation
<|reference_start|>Towards Real-Time Generation of Delay-Compensated Video Feeds for Outdoor Mobile Robot Teleoperation: Teleoperation is an important technology to enable supervisors to control agricultural robots remotely. However, environmental factors in dense crop rows and limitations in network infrastructure hinder the reliability of data streamed to teleoperators. These issues result in delayed and variable frame rate video feeds that often deviate significantly from the robot's actual viewpoint. We propose a modular learning-based vision pipeline to generate delay-compensated images in real-time for supervisors. Our extensive offline evaluations demonstrate that our method generates more accurate images compared to state-of-the-art approaches in our setting. Additionally, we are one of the few works to evaluate a delay-compensation method in outdoor field environments with complex terrain on data from a real robot in real-time. Additional videos are provided at https://sites.google.com/illinois.edu/comp-teleop.<|reference_end|>
@article{chakraborty2024towards,
    title={Towards Real-Time Generation of Delay-Compensated Video Feeds for
  Outdoor Mobile Robot Teleoperation},
    author={Neeloy Chakraborty, Yixiao Fang, Andre Schreiber, Tianchen Ji, Zhe
  Huang, Aganze Mihigo, Cassidy Wall, Abdulrahman Almana, Katherine
  Driggs-Campbell},
    journal={arXiv preprint arXiv:2409.09921},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.09921},
    primaryClass={cs.RO cs.CV}
}