Low-cost mixed reality simulator for industrial vehicle environments

Abstract

High-end industrial vehicle simulators are generally expensive and aim at providing a high level of realism. The access to such simulators is often a limited resource to researchers and developers who find themselves using a PC-based simulator instead. We challenge this approach by introducing a low-cost mixed reality simulator for industrial vehicles that allows to test new vehicle control concepts and design ideas in a rapid prototyping manner. Our simulator prototype consists of a head-mounted projection display, a CAVE-like room covered with a retro-reflective cloth and a rotatable chair with controls to steer an industrial vehicle. The created digital environment represents an obstacle course for an excavator and can be controlled by a joystick, a keyboard and can be explored by natural head movements. Performed user tests with 21 participants showed that the mixed reality simulator is perceived as more realistic, natural to use and provides a more immersive experience than a PC-based simulator with the same environment and controls.