This work introduces a solution to enhance human-robot interaction over
limited wireless connectivity. The goal is toenable remote control of a robot
through a virtual reality (VR)interface, ensuring a smooth transition to
autonomous mode in the event of connectivity loss. The VR interface provides
accessto a dynamic 3D virtual map that undergoes continuous updatesusing
real-time sensor data collected and transmitted by therobot. Furthermore, the
robot monitors wireless connectivity and automatically switches to a autonomous
mode in scenarios with limited connectivity. By integrating four key
functionalities: real-time mapping, remote control through glasses VR,
continuous monitoring of wireless connectivity, and autonomous navigation
during limited connectivity, we achieve seamless end-to-end operation.

通过虚拟现实界面，利用实时传感器数据和无线连接性监测，实现在有限无线连接情况下对机器人的远程控制和自主导航的平滑切换。

有限无线连接下的实时远程 VR 控制

Real-Time Remote Control via VR over Limited Wireless Connectivity

As the application scenarios of mobile robots are getting more complex and
challenging, scene understanding becomes increasingly crucial. A mobile robot
that is supposed to operate autonomously in indoor environments must have
precise knowledge about what objects are present, where they are, what their
spatial extent is, and how they can be reached; i.e., information about free
space is also crucial. Panoptic mapping is a powerful instrument providing such
information. However, building 3D panoptic maps with high spatial resolution is
challenging on mobile robots, given their limited computing capabilities. In
this paper, we propose PanopticNDT - an efficient and robust panoptic mapping
approach based on occupancy normal distribution transform (NDT) mapping. We
evaluate our approach on the publicly available datasets Hypersim and
ScanNetV2. The results reveal that our approach can represent panoptic
information at a higher level of detail than other state-of-the-art approaches
while enabling real-time panoptic mapping on mobile robots. Finally, we prove
the real-world applicability of PanopticNDT with qualitative results in a
domestic application.

提出了一种基于 NDT 映射的高效且稳健的全景映射方法 PanopticNDT，通过在移动机器人上实现实时全景映射，可以以比现有方法更高的细节水平表示全景信息。