用3D高斯点云生成全景视角，结合震动反馈，提升深海遥控操作效率与耐力。
A 3DGS-Driven Dynamic Viewpoint and Vibrotactile Framework for Subsea Teleoperation Validated via fNIRS
- 基于3DGS实时生成无遮挡的全局视角，替代传统狭小摄像头画面。
- 在1秒延迟下，新系统路径追踪准确率显著优于传统方式。
- 适合深海作业、远程操控等高延迟场景下的操作员使用。
在水下复杂结构中远程操控无人潜水器（ROV）受限于狭窄的2D第一人称视角和通信延迟。本文提出一种基于ROS-Unity框架的多模态遥操作架构，将主动空间规划与被动避障分离。系统以动态自适应视角系统（DAVS）取代静态摄像画面，利用连续优化与实时3D高斯点云（3DGS）技术，从机载状态估计中合成无遮挡的第三人称视角。为减轻感知负荷，采用穿戴式震动触觉服，将障碍物距离映射为直观的触觉提示。在受控的人体实验中（N=30），使用BlueROV2在模拟水下设施中导航，采用3×4重复测量设计，对比三种交互模式（第一人称、触觉、第三人称）在四种通信延迟（0.0–1.0秒）下的表现。通过行为指标和功能近红外光谱（fNIRS）评估任务诱发的前额叶激活。结果显示，反应式触觉反馈在低延迟下提升路径遵循性；而3DGS驱动的第三人称可视化在严重延迟（0.5–1.0秒）下表现更优，显著优于其他模式。fNIRS进一步揭示认知脱离效应：传统第一人称操作在延迟增加时会过度占用工作记忆，导致前额叶激活下降，而DAVS提供的主动空间上下文有助于维持执行控制能力。结果表明，基于空间定位的多模态辅助能显著提升操作者在延迟劣化环境下的性能与认知耐力。
原文摘要 · Abstract (English)
Teleoperating remotely operated vehicles (ROVs) in flooded, cluttered infrastructure is fundamentally limited by narrow 2D egocentric views and subsea communication latency. We present a multimodal teleoperation architecture built on a ROS-Unity framework that decouples proactive spatial planning from reactive boundary avoidance. The system replaces static camera feeds with a Dynamic Adaptive Viewpoint System (DAVS), which uses continuous optimization and real-time 3D Gaussian Splatting (3DGS) to synthesize an occlusion-free exocentric viewpoint from onboard state estimation. To further reduce sensory workload, a torso-mounted vibrotactile suit maps local obstacle clearance to intuitive haptic proximity cues. The architecture was evaluated in a controlled human-subject study (N = 30) using a BlueROV2 navigating a complex simulated underwater facility. A 3 x 4 repeated-measures design compared three interaction modalities (Egocentric, Haptic, Exocentric) under four communication delays (0.0-1.0 s). Performance was quantified using behavioral measures and functional near-infrared spectroscopy (fNIRS) to assess task-evoked prefrontal activation. Results show that reactive haptic feedback improves path adherence under minimal delay, whereas the 3DGS-driven exocentric visualization provides superior resilience under severe latency (0.5-1.0 s), significantly outperforming the other modalities. fNIRS further revealed a cognitive disengagement effect: increasing latency during conventional egocentric teleoperation overloaded working memory and reduced prefrontal activation, whereas the proactive spatial context provided by DAVS sustained executive control. These findings demonstrate that spatially grounded, multimodal assistance can substantially improve operator performance and cognitive endurance during latency-degraded underwater teleoperation.
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