让机器人实时共享空间地图，远程用户也能看清环境。
Integration of Augmented Reality and Mobile Robot Indoor SLAM for Enhanced Spatial Awareness
- 用室内SLAM与AR融合，实现远程实时空间感知。
- 在真实环境中验证了机器人与AR设备的通信与定位稳定性。
- 适合救援、巡检等需远程了解复杂环境的场景。
本研究探索将室内同步定位与地图构建（SLAM）与增强现实（AR）技术结合，以提升危险或紧急情况下的情境感知能力，改善安全性。主要贡献在于使移动机器人能够向非共处同一位置的用户提供实时空间感知。该研究采用综合性方法，包括选择适用于室内SLAM的传感器、设计并搭建平台、开发在AR设备上显示地图的方法、在AR设备上实现软件集成，并在真实环境中提升机器人与AR设备之间通信与定位的鲁棒性。通过分析系统各组件，本文指出了多个未来可进一步推进SLAM与AR融合研究的方向，旨在显著提升救援行动中的安全性和效率。
原文摘要 · Abstract (English)
This research explores the integration of indoor Simultaneous Localization and Mapping (SLAM) with Augmented Reality (AR) to enhance situational awareness, improving safety in hazardous or emergency situations. The main contribution of this work is to enable mobile robots to provide real-time spatial perception to users who are not co-located with the robot. This is a comprehensive approach, including selecting suitable sensors for indoor SLAM, designing and building a platform, developing methods to display maps on AR devices, implementing this into software on an AR device, and improving the robustness of communication and localization between the robot and AR device in real-world testing. By taking this approach and analyzing each component of the integrated system, this paper highlights numerous areas for future research that can further advance the integration of SLAM and AR technologies. These advancements aim to significantly improve safety and efficiency during rescue operations.
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