Research indicates that humans can mistakenly assume that robots and humans have the same field of view, possessing an inaccurate mental model of robots. This misperception may lead to failures during human-robot collaboration tasks where robots might be asked to complete impossible tasks about out-of-view objects. The issue is more severe when robots do not have a chance to scan the scene to update their world model while focusing on assigned tasks. To help align humans' mental models of robots' vision capabilities, we propose four field-of-view indicators in augmented reality and conducted a human-subjects experiment (N=41) to evaluate them in a collaborative assembly task regarding accuracy, confidence, task efficiency, and workload. These indicators span a spectrum of positions: two at robot's eye and head space -- deepening eye socket and adding blocks to two sides of the eyes (i.e., egocentric), and two anchoring in the robot's task space -- adding extended blocks from the sides of eyes to the table and placing blocks directly on the tables (i.e., allocentric). Results showed that, when placed directly in the task space, the allocentric indicator yields the highest accuracy, although with a delay in interpreting the robot's field of view. When placed at the robot's eyes, the egocentric indicator of deeper eye sockets, possible for physical alteration, also increased accuracy. In all indicators, participants' confidence was high while cognitive load remained low. Finally, we contribute six guidelines for practitioners to apply our augmented reality indicators or physical alterations to align humans' mental models with robots' vision capabilities.

翻译：研究表明，人类可能会错误地假设机器人与人类具有相同的视野范围，从而形成对机器人不准确的心理模型。这种误解可能导致人机协作任务中的失败，例如要求机器人完成关于视野外物体的不可能任务。当机器人在专注于指定任务时没有机会扫描场景以更新其世界模型时，该问题更为严重。为帮助校准人类对机器人视觉能力的心理模型，我们提出了四种增强现实视野指示器，并通过人体实验（N=41）在协作装配任务中评估了其在准确性、置信度、任务效率和认知负荷方面的表现。这些指示器涵盖了一系列位置布局：两个位于机器人眼部及头部空间——加深眼眶及在双眼两侧添加方块（即自我中心式），两个锚定在机器人任务空间——从双眼侧面向桌面延伸方块及直接在桌面放置方块（即异我中心式）。实验结果表明，当指示器直接置于任务空间时，异我中心式指示器能产生最高的判断准确度，尽管存在解读机器人视野的延迟。当指示器置于机器人眼部时，可通过物理改造实现的加深眼眶式自我中心指示器同样提升了准确度。在所有指示器条件下，参与者均表现出高置信度且认知负荷保持较低水平。最后，我们提出了六条实践指南，以帮助从业者应用我们的增强现实指示器或物理改造方案，使人类心理模型与机器人视觉能力保持一致。