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Abstract
We propose a novel multiplexing scheme for teleoperation over constant bitrate (CBR) communication links. The proposed approach uniformly divides the channel into 1 ms resource buckets and controls the size of the transmitted video packets as a function of the irregular haptic transmission events generated by a perceptual haptic data reduction approach. The performance of the proposed multiplexing scheme is measured objectively in terms of delay-jitter and packet rates. The results show that acceptable multiplexing delays on both the visual and haptic streams are achieved. Our evaluation shows that the proposed approach can provide a guaranteed constant delay for the time-critical force signal, while introducing acceptable video delay.
This work has been supported by the European Research Council under the European Union’s\(7^{th}\) Framework Programme (FP7/2007–2013)/ERC Grant no. 258941.
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Notes
- 1.
Video illustrating the proposed visual-haptic multiplexing scheme for teleoperation over CBR links,http://youtu.be/aMJVsAPy708, 2014.
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Acknowledgment
The first author gratefully acknowledges the support of the TUM Graduate School’s Faculty Graduate Center (Electrical Engineering and Information Technology) at the TU München.
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Authors and Affiliations
Institute for Media Technology, Technische Universität München, Munich, Germany
Burak Cizmeci, Rahul Chaudhari, Xiao Xu, Nicolas Alt & Eckehard Steinbach
- Burak Cizmeci
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- Eckehard Steinbach
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Correspondence toBurak Cizmeci.
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Editors and Affiliations
CNRS, Paris, France
Malika Auvray
Inria Lille, Villeneuve d'Ascq, France
Christian Duriez
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Cizmeci, B., Chaudhari, R., Xu, X., Alt, N., Steinbach, E. (2014). A Visual-Haptic Multiplexing Scheme for Teleoperation Over Constant-Bitrate Communication Links. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8619. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44196-1_17
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