VR系统用第三人称视角提升无人机在未知空间的操控安全性和感知能力
VR-Based Control of Multi-Copter Operation
- 基于嵌入式GPU与ROS2-WebXR，实现无人机周围环境实时3D重建与第三视角可视化
- 相比第一视角，第三视角使最近障碍物距离增加0.20米，接触次数减少，任务时间相当
- 适合需要高环境感知的未知室内场景远程操作，尤其关注安全性与避障
我们提出一种基于虚拟现实（VR）的多旋翼飞行遥操作系统，该系统渲染无人机的第三人称视图（TPV）并实时呈现其周围环境的三维重建。系统运行在嵌入式GPU（Jetson Orin NX）上，通过ROS2-WebXR集成，将几何数据与视频流传输至头显，实现在未测绘空间中的闭环控制。我们实现了第一人称视频（FPV）基线，并在未测绘的室内空间中开展两位飞行员的匹配实验。定量评估来自一位飞行员的重复试验（N=8）。结果表明，TPV在任务时间上与FPV相当，同时提升了近距障碍物感知能力（最小障碍物距离增加0.20米），并减少了碰撞次数。这说明TPV可在保持操控质量的同时，揭示FPV中不易察觉的潜在危险，支持在未知环境中更安全的遥操作。
原文摘要 · Abstract (English)
We present a VR-based teleoperation system for multirotor flight that renders a third-person view (TPV) of the vehicle together with a live 3D reconstruction of its surroundings. The system runs on an embedded GPU (Jetson Orin NX) with ROS2-WebXR integration and streams geometry and video to a headset for closed-loop control in previously unmapped spaces. We implement a first-person video (FPV) baseline and perform matched trials with two pilots in unmapped indoor spaces. Quantitative metrics are reported from repeated trials with one pilot (N=8). TPV achieved task time comparable to FPV while improving proximal obstacle awareness (minimum obstacle distance +0.20m) and reducing contacts. These results indicate that TPV can preserve control quality while exposing hazards less visible in FPV, supporting safer teleoperation in unknown environments.
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