  Establishing common ground between an intelligent robot and a human requires
communication of the robot's intention, behavior, and knowledge to the human to
build trust and assure safety in a shared environment. This paper introduces
SENSAR (Seeing Everything iN Situ with Augmented Reality), an augmented reality
robotic system that enables robots to communicate their sensory and cognitive
data in context over the real-world with rendered graphics, allowing a user to
understand, correct, and validate the robot's perception of the world. Our
system aims to support human-robot interaction research by establishing common
ground where the perceptions of the human and the robot align.
