ABSTRACT The present paper introduces a near-future perception system called Previewed Reality. In a co-existence environment of a human and a robot, unexpected collisions between the human and the robot must be avoided to the extent possible. In many cases, the robot is controlled carefully so as not to collide with a human. However, it is almost impossible to perfectly predict human behavior in advance. On the other hand, if a user can determine the motion of a robot in advance, he/she can avoid a hazardous situation and exist safely with the robot. In order to ensure that a user perceives future events naturally, we developed a near-future perception system named Previewed Reality. Previewed Reality consists of an informationally structured environment, a VR display or an AR display, and a dynamics simulator. A number of sensors are embedded in an informationally structured environment, and information such as the position of furniture, objects, humans, and robots, is sensed and stored structurally in a database. Therefore, we can forecast possible subsequent events using a robot motion planner and a dynamics simulator and can synthesize virtual images from the viewpoint of the user, which will actually occur in the near future. The viewpoint of the user, which is the position and orientation of a VR display or an AR display, is also tracked by an optical tracking system in the informationally structured environment, or the SLAM technique on an AR display. The synthesized images are presented to the user by overlaying these images on a real scene using the VR display or the AR display. This system provides human-friendly communication between a human and a robotic system, and a human and a robot can coexist safely by intuitively showing the human possible hazardous situations in advance. GRAPHICAL ABSTRACT

中文翻译：

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近未来感知系统：预览现实

摘要 本文介绍了一种称为预览现实的近未来感知系统。在人与机器人共存的环境中，必须尽可能避免人与机器人之间的意外碰撞。在许多情况下，机器人会受到小心控制，以免与人发生碰撞。然而，提前完美地预测人类行为几乎是不可能的。另一方面，如果用户可以提前确定机器人的运动，他/她可以避免危险情况并与机器人安全地存在。为了确保用户自然地感知未来事件，我们开发了一个名为Previewed Reality的近期感知系统。预览现实由信息结构化环境、VR 显示器或 AR 显示器以及动态模拟器组成。许多传感器嵌入在信息结构化的环境中，家具、物体、人类和机器人的位置等信息被感知并存储在数据库中。因此，我们可以使用机器人运动规划器和动力学模拟器来预测可能的后续事件，并可以从用户的角度合成虚拟图像，这将在不久的将来实际发生。用户的视点，即 VR 显示器或 AR 显示器的位置和方向，也由信息结构化环境中的光学跟踪系统或 AR 显示器上的 SLAM 技术跟踪。合成图像通过将这些图像叠加在使用 VR 显示器或 AR 显示器的真实场景上来呈现给用户。该系统提供了人与机器人系统之间的人性化通信，通过提前直观地显示人类可能存在的危险情况，人与机器人可以安全共存。图形概要