Low-Latency Immersive 6D Televisualization with Spherical Rendering
This work addresses motion sickness and latency issues for human operators in VR teleoperation systems, representing an incremental improvement over existing methods.
The paper tackles the problem of high latency and motion sickness in VR teleoperation by introducing a decoupled approach that renders captured camera images as spheres, enabling real-time stereo scene capture and remote VR visualization with minimal distortion during head movements. Quantitative results from lab experiments and a user study show that the method outperforms other visualization techniques.
We present a method for real-time stereo scene capture and remote VR visualization that allows a human operator to freely move their head and thus intuitively control their perspective during teleoperation. The stereo camera is mounted on a 6D robotic arm, which follows the operator's head pose. Existing VR teleoperation systems either induce high latencies on head movements, leading to motion sickness, or use scene reconstruction methods to allow re-rendering of the scene from different perspectives, which cannot handle dynamic scenes effectively. Instead, we present a decoupled approach which renders captured camera images as spheres, assuming constant distance. This allows very fast re-rendering on head pose changes while keeping the resulting temporary distortions during head translations small. We present qualitative examples, quantitative results in the form of lab experiments and a small user study, showing that our method outperforms other visualization methods.