A Multi-View 3D Telepresence System for XR Robot Teleoperation
Robot teleoperation is critical for applications such as remote maintenance, fleet robotics, search and rescue, and data collection for robot learning. Effective teleoperation requires intuitive 3D visualization with reliable depth cues, which conventional screen-based interfaces often fail to provide. We introduce a multi-view VR telepresence system that (1) fuses geometry from three cameras to produce GPU-accelerated point-cloud rendering on standalone VR hardware, and (2) integrates a wrist-mounted RGB stream to provide high-resolution local detail where point-cloud accuracy is limited. Our pipeline supports real-time rendering of approximately 75k points on the Meta Quest 3. A within-subject study was conducted with 31 participants to compare our system to other visualisation modalities, such as RGB streams, a projection of stereo-vision directly in the VR device and point clouds without providing additional RGB information. Across three different teleoperated manipulation tasks, we measured task success, completion time, perceived workload, and usability. Our system achieved the best overall performance, while the Point Cloud modality without RGB also outperforming the RGB streams and OpenTeleVision. These results show that combining global 3D structure with localized high-resolution detail substantially improves telepresence for manipulation and provides a strong foundation for next-generation robot teleoperation systems.
Code (0)
등록된 구현이 없습니다.
Tasks
Point CloudsSimilar Papers 제목 키워드 기반
A Perspective on Robotic Telepresence and Teleoperation using Cognition: Are we there yet?
Telepresence and teleoperation robotics have attracted a great amount of attention in the last 10 years. With the Artificial Intelligence (AI) revolution already being started, we can see a wide range of robotic applicat…
Immersive Teleoperation of Beyond-Human-Scale Robotic Manipulators: Challenges and Future Directions
Teleoperation of beyond-human-scale robotic manipulators (BHSRMs) presents unique challenges that differ fundamentally from conventional human-scale systems. As these platforms gain relevance in industrial domains such a…
Breathe with Me: Synchronizing Biosignals for User Embodiment in Robots
Embodiment of users within robotic systems has been explored in human-robot interaction, most often in telepresence and teleoperation. In these applications, synchronized visuomotor feedback can evoke a sense of body own…
I can attend a meeting too! Towards a human-like telepresence avatar robot to attend meeting on your behalf
Telepresence robots are used in various forms in various use-cases that helps to avoid physical human presence at the scene of action. In this work, we focus on a telepresence robot that can be used to attend a meeting r…
Sound Source LocalizationMulti-Week, In-Class Deployments of Telepresence Robots With Four Homebound K-12 Students: Benefits, Challenges, and Recommendations
Missing significant amounts of school during K-12 education is known to put students' cognitive and social development at risk. Alternatives such as home instruction and online learning are common, but lack sufficient in…