用手势在真实地面画路径，让机器人更懂人的行走意图。
MRReP: Mixed Reality-based Hand-drawn Reference Path Editing Interface for Mobile Robot Navigation
- 用户用手势在真实地面绘制参考路径，直接输入空间意图。
- 实验显示路径准确率提升，操作负担降低，稳定性更强。
- 适合需要人机协作导航的智能机器人场景，如导览、配送。
在人类共用的室内环境中，自主移动机器人常需规划符合人类空间意图的路径，如避开人流或保持舒适间距。然而，传统路径规划器主要优化几何成本，对人工显式指定路线支持有限。本文提出MRReP，一种基于混合现实的交互界面，允许用户通过手势在真实地面直接绘制手绘参考路径（HRP）。该路径由定制的HRP规划器转换为全局导航路径，集成至机器人导航系统。在被试内实验中，与传统2D界面相比，MRReP显著提升了路径指定准确性、可用性与用户体验，同时增强了物理环境中的路径稳定性。结果表明，通过混合现实进行直接路径指定，是有效融入人类空间意图的导航方法。更多材料见 https://mertcookimg.github.io/mrrep
原文摘要 · Abstract (English)
Autonomous mobile robots operating in human-shared indoor environments often require paths that reflect human spatial intentions, such as avoiding interference with pedestrian flow or maintaining comfortable clearance. However, conventional path planners primarily optimize geometric costs and provide limited support for explicit route specification by human operators. This paper presents MRReP, a Mixed Reality-based interface that enables users to draw a Hand-drawn Reference Path (HRP) directly on the physical floor using hand gestures. The drawn HRP is integrated into the robot navigation stack through a custom Hand-drawn Reference Path Planner, which converts the user-specified point sequence into a global path for autonomous navigation. We evaluated MRReP in a within-subject experiment against a conventional 2D baseline interface. The results demonstrated that MRReP enhanced path specification accuracy, usability, and perceived workload, while enabling more stable path specification in the physical environment. These findings suggest that direct path specification in MR is an effective approach for incorporating human spatial intention into mobile robot navigation. Additional material is available at https://mertcookimg.github.io/mrrep
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