Abstract
Mobile telepresence robots allow users to feel present and explore remote environments using technology. Traditionally, these systems are implemented using a camera onboard a mobile robot that can be controlled. Although high-immersion technologies, such as 360-degree cameras, can increase situational awareness and presence, they also introduce significant challenges. Additional processing and bandwidth requirements often result in latencies of up to seconds. The current delay with a 360-degree camera streaming over the internet makes real-time control of these systems difficult. Working with high-latency systems requires some form of assistance to the users. This study presents a novel way to utilize optical flow to create an illusion of self-motion to the user during the latency period between user sending motion commands to the robot and seeing the actual motion through the 360-camera stream. We find no significant benefit of using the self-motion illusion to performance or accuracy of controlling a telepresence robot with a latency of 500 ms, as measured by the task completion time and collisions into objects. Some evidence is shown that the method might increase virtual reality (VR) sickness, as measured by the simulator sickness questionnaire (SSQ). We conclude that further adjustments are necessary in order to render the method viable.
Abstract (translated)
移动远程呈现机器人允许用户通过技术在远程环境中感受存在并进行探索。传统上，这些系统使用可控制的车载摄像头来实现。尽管像360度摄像头这样的高沉浸感技术可以提高情境意识和存在感，但它们也会带来显著的技术挑战。额外的数据处理和带宽需求通常会导致延迟长达几秒。当前使用360度摄像头通过互联网流媒体传输时的延迟使得实时控制这些系统变得困难。与高延迟系统合作需要某种形式的支持以帮助用户。 本研究提出了一种新的方法，利用光学流动来在用户发送移动命令给机器人和看到实际运动之间的延迟期间为用户提供一种自我移动的错觉感。我们发现，在500毫秒延迟的情况下使用这种自我移动错觉对远程呈现机器人的控制性能或准确性（通过任务完成时间和碰撞次数衡量）并无显著益处。此外，研究显示这种方法可能会增加虚拟现实（VR）病状的可能性，这一点可以通过模拟器病状问卷（SSQ）来测量。 我们得出结论，在使该方法变得可行之前，需要进行进一步的调整。
URL
https://arxiv.org/abs/2508.12925
