Communication Dans Un Congrès Année : 2025

Real-time Photorealistic Mapping for Situational Awareness in Robot Teleoperation

Résumé

Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as it enables the teleoperator to progressively explore the site from multiple perspectives. However, traditional online map-based teleoperation systems struggle to generate visually accurate 3D maps in real-time due to the high computational cost involved, leading to poor teleoperation performances. In this work, we propose a solution to improve teleoperation efficiency in unknown environments. Our approach proposes a novel, modular and efficient GPU-based integration between recent advancement in gaussian splatting SLAM and existing online map-based teleoperation systems. We compare the proposed solution against state-of-the-art teleoperation systems and validate its performances through real-world experiments using an aerial vehicle. The results show significant improvements in decision-making speed and more accurate interaction with the environment, leading to greater teleoperation efficiency. In doing so, our system enhances remote teleoperation by seamlessly integrating photorealistic mapping generation with real-time performances, enabling effective teleoperation in unfamiliar environments.

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Dates et versions

hal-05241770 , version 1 (08-09-2025)
hal-05241770 , version 2 (12-09-2025)

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Identifiants

  • HAL Id : hal-05241770 , version 2

Citer

Ian Page, Pierre Susbielle, Olivier Aycard, Pierre-Brice Wieber. Real-time Photorealistic Mapping for Situational Awareness in Robot Teleoperation. IROS 2025 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2025, Hangzhou, China. pp.1-7. ⟨hal-05241770v2⟩
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