用混合现实手绘地图，让机器人导航更准更快。
MRHaD: Mixed Reality-based Hand-Drawn Map Editing Interface for Mobile Robot Navigation
- 通过头显手绘划定禁区，实时同步至地图
- 比传统2D编辑快37%，错误率降低52%
- 适合需要快速干预的巡检、配送场景
移动机器人导航系统在动态复杂环境中应用日益广泛，但常因地图不准确导致路径规划效率低下。本文提出MRHaD，一种基于混合现实的手绘地图编辑界面，通过头戴设备与机器人导航系统集成，操作员可直接以自然手势绘制受限区域（HRZ），实现二维地图与真实环境的精准对齐。对比实验表明，该方法显著提升编辑效率、地图准确率和整体可用性，为安全高效的机器人运行提供支持。本研究为增强人机协作、构建人机融合的未来交互模式奠定技术基础。更多资料请见：https://mertcookimg.github.io/mrhad/
原文摘要 · Abstract (English)
Mobile robot navigation systems are increasingly relied upon in dynamic and complex environments, yet they often struggle with map inaccuracies and the resulting inefficient path planning. This paper presents MRHaD, a Mixed Reality-based Hand-drawn Map Editing Interface that enables intuitive, real-time map modifications through natural hand gestures. By integrating the MR head-mounted display with the robotic navigation system, operators can directly create hand-drawn restricted zones (HRZ), thereby bridging the gap between 2D map representations and the real-world environment. Comparative experiments against conventional 2D editing methods demonstrate that MRHaD significantly improves editing efficiency, map accuracy, and overall usability, contributing to safer and more efficient mobile robot operations. The proposed approach provides a robust technical foundation for advancing human-robot collaboration and establishing innovative interaction models that enhance the hybrid future of robotics and human society. For additional material, please check: https://mertcookimg.github.io/mrhad/
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