Figure 3.

Experimental setup and images of pseudocolor depth encoding. (A) Experimental course configuration one. (B) Grasp experiment setup, with five wooden cylinders and a black backdrop. Subjects are asked to grab the wooden cylinder in the rear without touching the ones in the front. (C) A monocular picture, from the user’s point of view, of the pseudocolor encoding. Shows limited field of view. Image artifacts were produced by cell phone camera. (D) Experimental configuration two. (E) Experimental configuration three. (F) CGI rendering of pseudocolor encoding. In the mobility experiments, the coarse color map (0–3 ft = red, 3–4 ft = green, 4–5 ft = blue, 5–6 ft = red) was used. However, in the grasp experiments, the color map was finer (0–6 in = white, 6–12 in = green, 12–18 in = blue, 18–24 in = red, not shown).