Mobile robotic systems have evolved to include sensors capable of truthfully describing robot status and operating environment as accurately and reliably as never before. This possibility is challenged by effective sensor data exploitation, because of the cognitive load an operator is exposed to, due to the large amount of data and time-dependency constraints. This paper addresses this challenge in remote-vehicle teleoperation by proposing an intuitive way to present sensor data to users by means of using mixed reality and visual aids within the user interface. We propose a method for organizing information presentation and a set of visual aids to facilitate visual communication of data in teleoperation control panels. The resulting sensor-information presentation appears coherent and intuitive, making it easier for an operator to catch and comprehend information meaning. This increases situational awareness and speeds up decision-making. Our method is implemented on a real mobile robotic system operating outdoor equipped with on-board internal and external sensors, GPS, and a reconstructed 3D graphical model provided by an assistant drone. Experimentation verified feasibility while intuitive and comprehensive visual communication was confirmed through an assessment, which encourages further developments.

A crime scene can provide valuable evidence critical to explain reason and modality of the occurred crime, and it can also lead to the arrest of criminals. The type of evidence collected by crime scene investigators or by law enforcement may accordingly effective involved cases. Bullets and cartridge cases examination is of paramount importance in forensic science because they may contain traces of microscopic striations, impressions and markings, which are unique and reproducible as “ballistic fingerprints”. The analysis of bullets and cartridge cases is a complicated and challenging process, typically based on optical comparison, leading to the identification of the employed firearm. New methods have recently been proposed for more accurate comparisons, which rely on three-dimensionally reconstructed data. This paper aims at further advancing recent methods by introducing a novel immersive technique for ballistics comparison by means of Virtual Reality. Users can three-dimensionally examine the cartridge cases shapes through intuitive natural gestures, from any vantage viewpoint (including internal iper-magnified views), while having at their disposal sets of visual aids which could not be easily implemented in desktop-based applications. A user study was conducted to assess viability and performance of our solution, which involved fourteen individuals acquainted with the standard procedures used by law enforcement agencies. Results clearly indicated that our approach lead to faster adaptation of users to the UI/UX and more accurate and explainable ballistics examination results.

Virtual Reality headsets have evolved to include unprecedented display quality. Meantime, they have become light-weight, wireless and low-cost, which has opened to new applications and a much wider audience. Photo-based omnidirectional imaging has also developed, becoming directly exploitable for VR, with their combination proven suitable for: remote visits and realistic scene reconstruction, operator’s training and control panels, surveillance and e-tourism. There is however a limited amount of scientific work assessing VR experience and user’s performance in photo-based environment representations. This paper focuses on assessing the effect of photographic realism in VR when observing real places through a VR headset, for two different pixel-densities of the display, environment types and familiarity levels. Our comparison relies on the observation of static three-dimensional and omnidirectional photorealistic views of environments. The aim is to gain an insight about how photographic texture can affect perceived realness, sense of presence and provoked emotions, as well as perception of image-lighting and actual space dimension (true-dimension). Two user studies are conducted based on subjective rating and measurements given by users to a number of display and human factors. The display pixel-density affected the perceived image-lighting and prevailed over better lighting specs. The environment illumination and distance to objects generally played a stronger role than display. The environment affected the perceived image-lighting, spatial presence, depth impression and specific emotions. Distances to a set of objects were generally accurately estimated. Place familiarity enhanced perceived realism and presence. They confirmed some previous studies, but also introduced new elements.

The identification of printed materials is a critical and challenging issue for security purposes, especially when it comes to documents such as banknotes, tickets, or rare collectable cards: eligible targets for ad hoc forgery. State-of-the-art methods require expensive and specific industrial equipment, while a low-cost, fast, and reliable solution for document identification is increasingly needed in many contexts. This paper presents a method to generate a robust fingerprint, by the extraction of translucent patterns from paper sheets, and exploiting the peculiarities of binary pattern descriptors. A final descriptor is generated by employing a block-based solution followed by principal component analysis (PCA), to reduce the overall data to be processed. To validate the robustness of the proposed method, a novel dataset was created and recognition tests were performed under both ideal and noisy conditions.