用混合现实让操作员实时掌控多机器人建图状态，提升空间感知效率。
MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Reality
- 通过混合现实头显实现带真实遮挡的远程操控与实时建图状态可视化
- 系统在9分钟内完成17.9平方米建图，跨机器人一致性达94.7%
- 适用于需多机器人协同作业的建筑巡检、仓储监控等场景
在建筑巡检或仓库过道监控等应用中，操作多机器人进行同步定位与建图（SLAM）时，传统2D界面难以维持对各机器人位置和建图状态的空间感知。我们提出MR-SLAM，一种基于混合现实（MR）的系统：操作员佩戴Meta Quest 3头显，通过透传视图远程操控三台模拟的TurtleBot3机器人，并在真实空间中锚定仪表盘面板实时显示建图进度。每台机器人独立运行SLAM Toolbox实例，其占据栅格在ROS 2后端实时合并。五次9分钟评估中，系统实现8.83 ± 0.16 Hz扫描频率，融合建图面积达17.9 ± 0.8 m²，机器人间占据一致性达94.7 ± 0.5%。另一次测试记录到6.3毫秒中位数变换抖动，覆盖26.7平方米（共41平方米）的网格。我们将MR-SLAM定位为在消费级硬件上结合透传混合现实监督与多机器人SLAM的参考实现。
原文摘要 · Abstract (English)
Operating a multi-robot fleet for simultaneous localization and mapping (SLAM) in applications such as building inspection or warehouse-aisle monitoring requires the operator to maintain spatial awareness of each robot's position and mapping state, a task that scales poorly on conventional 2D interfaces. We present MR-SLAM, a mixed reality (MR) system in which an operator wearing a Meta Quest 3 headset teleoperates three simulated TurtleBot3 robots through a passthrough view with real-world occlusion, while spatially anchored dashboard panels report mapping progress in situ. Each robot runs an independent SLAM Toolbox instance whose occupancy grid is merged in real time on a Robot Operating System 2 (ROS 2) back end. Across five 9-minute evaluation sessions, the system delivered scans at 8.83 +/- 0.16 Hz, mapped 17.9 +/- 0.8 m^2 of merged occupancy, and reached 94.7 +/- 0.5% cross-instance occupancy consistency across robot pairs. An additional session recorded 6.3 ms median transform jitter and 26.7 m^2 coverage of a 41 m^2 grid. We position MR-SLAM as a reference implementation for combining passthrough mixed reality supervision with multi-robot SLAM on consumer hardware.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。