IntentAR: Immersive Authoring of Condition-based AR Robot Visualisations

We introduce RoboVisAR, an immersive augmented reality (AR) authoring tool to create in-situ robot visualisations. AR robot visualisations such as the robot’s path, status, and safety zones has shown to benefit human-robot collaboration. However, creating custom AR visualisations requires extensive skills in both robotics and AR programming. RoboVisAR allow users to create custom AR robot visualisations without programming. By recording an example robot program behavior, users can create and test custom visualisations in-situ within a mixed reality environment. RoboVisAR supports six types of visualisations; path, point-of-interest, safety zone, robot state, message, and force/torque. Furthermore, RoboVisAR supports four types of conditions; robot state, proximity, inside-box, and force/torque. Their features enable the users to easily combine different visualisations on demand to make the context-aware assistant without visual clutter. An expert user study with three participants suggests that users generally appreciate the customizability of the visualisation and they easily create robot visualisations in less than ten minutes.