SENSAR: A Visual Tool for Intelligent Robots for Collaborative Human-Robot Interaction

Establishing common ground between an intelligent robot and a human requires communication of the robot's intention, behavior, and knowledge to the human to build trust and assure safety in a shared environment. This paper introduces SENSAR (Seeing Everything iN Situ with Augmented Reality), an augmented reality robotic system that enables robots to communicate their sensory and cognitive data in context over the real-world with rendered graphics, allowing a user to understand, correct, and validate the robot's perception of the world. Our system aims to support human-robot interaction research by establishing common ground where the perceptions of the human and the robot align.