2025/05/28 by Jack T. Hughes, Hughes, Jack T., Garegin Mazmanyan +5
Computer Science · Engineering · Psychology · #FOS: Computer and information sciences #Robotics (cs.RO) #Social Robot Interaction and HRI #Teleoperation and Haptic Systems #Virtual Reality Applications and Impacts
paper · pdf · doi:10.48550/arxiv.2505.22599
openalex publication_date 2025/05/28 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
We present a VR-based teleoperation system for multirotor flight that renders a third-person view (TPV) of the vehicle together with a live 3D reconstruction of its surroundings. The system runs on an embedded GPU (Jetson Orin NX) with ROS2-WebXR integration and streams geometry and video to a headset for closed-loop control in previously unmapped spaces. We implement a first-person video (FPV) baseline and perform matched trials with two pilots in unmapped indoor spaces. Quantitative metrics are reported from repeated trials with one pilot (N=8). TPV achieved task time comparable to FPV while improving proximal obstacle awareness (minimum obstacle distance +0.20m) and reducing contacts. These results indicate that TPV can preserve control quality while exposing hazards less visible in FPV, supporting safer teleoperation in unknown environments.