This paper reports the development of a real-time human-computer interface (HCI) system that enables a human operator to more effectively utilize the large volume of quantitative data (navigation, scientific, and vehicle status) generated in real-time by the sensor suites of underwater ro botic vehicles. The system provides interactive 3-D graphical interfaces that display, under user control, the quantitative spatial and temporal sensor data presently available to pilots and users only as two-dimensional plots and numerical dis plays. The system can presently display real-time bathymetric renderings of the sea-floor based upon vehicle navigation and sonar sensor data; vehicle trajectory data; a variety of scalar valued sensor data; and geo-referenced targets and waypoints. We report the accuracy of the real-time navigation and bathymetric sonar data processing by comparing the real-time sonar bathymetry of our test tank floor to a high-resolution laser scan of the same tank floor. The real-time sonar bathymetry is shown to compare favorably to the laser scan data

The term Eye-hand co-ordination refers to hand movements controlled with visual feedback and reinforced by hand contact with objects. A correct perspective view of a virtual environment enables normal eye-hand co-ordination skills to be applied. But is it necessary for rapid interaction with 3D objects? A study of rapid hand movements is reported using an apparatus designed so that the user can touch a virtual object in the same place where he or she sees it. A Fitts tapping task is used to assess the effect of both contact with virtual objects and real-time update of the centre of perspective based on the user's actual eye position. A Polhemus tracker is used to measure the user's head position and from this estimate their eye position. In half of the conditions, head tracked perspective is employed so that visual feedback is accurate while in the other half a fixed eye-position is assumed. A Phantom force feedback device is used to make it possible to touch the targets in selected conditions. Subjects were required to change their viewing position periodically to assess the importance of correct perspective and of touching the targets in maintaining eye-hand co-ordination, The results show that accurate perspective improves performance by an average of 9% and contact improves it a further 12%. A more detailed analysis shows the advantages of head tracking to be greater for whole arm movements in comparison with movements from the elbow.