{"id":"https://openalex.org/W3093939852","doi":"https://doi.org/10.1109/ro-man47096.2020.9223445","title":"Virtual Reality based Telerobotics Framework with Depth Cameras","display_name":"Virtual Reality based Telerobotics Framework with Depth Cameras","publication_year":2020,"publication_date":"2020-08-01","ids":{"openalex":"https://openalex.org/W3093939852","doi":"https://doi.org/10.1109/ro-man47096.2020.9223445","mag":"3093939852"},"language":"en","primary_location":{"id":"doi:10.1109/ro-man47096.2020.9223445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/72442","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021283297","display_name":"Bukeikhan Omarali","orcid":"https://orcid.org/0000-0001-8642-5795"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]},{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["GB","IT"],"is_corresponding":true,"raw_author_name":"Bukeikhan Omarali","raw_affiliation_strings":["Cosmic Lab, The Electrical, Electronics and Telecommunication Engineering and Naval Architecture, University of Genoa, Italy","School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cosmic Lab, The Electrical, Electronics and Telecommunication Engineering and Naval Architecture, University of Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043392376","display_name":"Brice Denoun","orcid":"https://orcid.org/0000-0001-6481-2401"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Brice Denoun","raw_affiliation_strings":["School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042583278","display_name":"Kaspar Althoefer","orcid":"https://orcid.org/0000-0002-1141-9996"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kaspar Althoefer","raw_affiliation_strings":["School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064713691","display_name":"Lorenzo Jamone","orcid":"https://orcid.org/0000-0002-1521-6168"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Lorenzo Jamone","raw_affiliation_strings":["School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010811199","display_name":"Maurizio Valle","orcid":"https://orcid.org/0000-0002-7366-6060"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Maurizio Valle","raw_affiliation_strings":["Cosmic Lab, The Electrical, Electronics and Telecommunication Engineering and Naval Architecture, University of Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cosmic Lab, The Electrical, Electronics and Telecommunication Engineering and Naval Architecture, University of Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066756570","display_name":"Ildar Farkhatdinov","orcid":"https://orcid.org/0000-0002-1023-8050"},"institutions":[{"id":"https://openalex.org/I166337079","display_name":"Queen Mary University of London","ror":"https://ror.org/026zzn846","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I166337079"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ildar Farkhatdinov","raw_affiliation_strings":["School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Engineering and Computer Science (Centre for Advanced Robotics @ Queen Mary, Centre for Intelligent Sensing), Queen Mary University of London, UK","institution_ids":["https://openalex.org/I166337079"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5021283297"],"corresponding_institution_ids":["https://openalex.org/I166337079","https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":2.3438,"has_fulltext":true,"cited_by_count":28,"citation_normalized_percentile":{"value":0.87913776,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1217","last_page":"1222"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10914","display_name":"Tactile and Sensory Interactions","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.8499226570129395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.764878511428833},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.7382405996322632},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.7139949798583984},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7023900747299194},{"id":"https://openalex.org/keywords/visualization","display_name":"Visualization","score":0.6976032853126526},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6345618963241577},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5997278094291687},{"id":"https://openalex.org/keywords/gesture","display_name":"Gesture","score":0.509023904800415},{"id":"https://openalex.org/keywords/stereo-camera","display_name":"Stereo camera","score":0.4756060242652893},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.45672163367271423},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4197689890861511},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2375379502773285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09821680188179016}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.8499226570129395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.764878511428833},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.7382405996322632},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.7139949798583984},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7023900747299194},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.6976032853126526},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6345618963241577},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5997278094291687},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.509023904800415},{"id":"https://openalex.org/C185078393","wikidata":"https://www.wikidata.org/wiki/Q313783","display_name":"Stereo camera","level":2,"score":0.4756060242652893},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.45672163367271423},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4197689890861511},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2375379502773285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09821680188179016},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ro-man47096.2020.9223445","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ro-man47096.2020.9223445","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)","raw_type":"proceedings-article"},{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/72442","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/72442","pdf_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/72442","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"}],"best_oa_location":{"id":"pmh:oai:qmro.qmul.ac.uk:123456789/72442","is_oa":true,"landing_page_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/72442","pdf_url":"https://qmro.qmul.ac.uk/xmlui/handle/123456789/72442","source":{"id":"https://openalex.org/S4306400530","display_name":"Queen Mary Research Online (Queen Mary University of London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I166337079","host_organization_name":"Queen Mary University of London","host_organization_lineage":["https://openalex.org/I166337079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Proceeding"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.4099999964237213}],"awards":[{"id":"https://openalex.org/G180752727","display_name":null,"funder_award_id":"EP/S00453X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G2243248184","display_name":"MAN^3: huMAN-inspired robotic MANipulation for advanced MANufacturing","funder_award_id":"EP/S00453X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G6552220756","display_name":null,"funder_award_id":"EP/R02572X","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3093939852.pdf","grobid_xml":"https://content.openalex.org/works/W3093939852.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W2053818191","https://openalex.org/W2055034888","https://openalex.org/W2071929656","https://openalex.org/W2133844819","https://openalex.org/W2157289187","https://openalex.org/W2204626327","https://openalex.org/W2523831779","https://openalex.org/W2593994643","https://openalex.org/W2594855129","https://openalex.org/W2775335721","https://openalex.org/W2794056821","https://openalex.org/W2909246528","https://openalex.org/W2909334117","https://openalex.org/W2910345227","https://openalex.org/W2910753186","https://openalex.org/W2924348398","https://openalex.org/W2944432948","https://openalex.org/W2948740211","https://openalex.org/W2963669336"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W2097059456","https://openalex.org/W817518365","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2145960295","https://openalex.org/W2013463538","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"This":[0],"work":[1],"describes":[2],"a":[3,30,33,94],"virtual":[4],"reality":[5],"(VR)":[6],"based":[7,117],"robot":[8],"teleoperation":[9,118],"framework":[10],"which":[11],"relies":[12],"on":[13,32],"scene":[14,50],"visualization":[15,46,68],"from":[16],"depth":[17],"cameras":[18],"and":[19,22,51,77],"implements":[20],"human-robot":[21],"human-scene":[23],"interaction":[24],"gestures.":[25],"We":[26,55],"suggest":[27],"that":[28],"mounting":[29],"camera":[31,82],"slave":[34],"robot's":[35],"end-effector":[36],"(an":[37],"in-hand":[38,74,76,81,121],"camera)":[39],"allows":[40],"the":[41,48,58,63,91,98,115,120],"operator":[42,92],"to":[43,61],"achieve":[44],"better":[45,95],"of":[47,97],"remote":[49,64,99],"improve":[52],"task":[53],"performance.":[54],"compared":[56],"experimentally":[57],"operator's":[59],"ability":[60],"understand":[62],"environment":[65,100],"in":[66],"different":[67],"modes:":[69],"single":[70],"external":[71,78],"static":[72,79],"camera,":[73,75,80],"with":[83,93,114,119],"OctoMap":[84],"occupancy":[85],"mapping.":[86],"The":[87],"latter":[88],"option":[89],"provided":[90],"understanding":[96],"whilst":[101],"requiring":[102],"relatively":[103],"small":[104],"communication":[105],"bandwidth.":[106],"Consequently,":[107],"we":[108],"propose":[109],"suitable":[110],"grasping":[111],"methods":[112],"compatible":[113],"VR":[116],"camera.":[122],"Video":[123],"demonstration:":[124],"https://youtu.be/3vZaEykMS_E.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}