MR-SLAM：通过混合现实实现多机器人建图的沉浸式空间监督

Prakash Aryan, Cem Erdogdu, Kavinaya Kumarchokkappan, Timo Kehrer, Sebastiano Panichella

2026

摘要

本文提出MR-SLAM系统，操作员通过Meta Quest 3头显以透视视图远程操控三台模拟TurtleBot3机器人，并利用空间锚定仪表板实时监控建图进度。系统在ROS 2后端实时合并各机器人独立运行的SLAM Toolbox实例的占据栅格，实验表明其扫描频率、建图面积和跨实例一致性均表现良好。

mixed realitymulti-robot SLAMteleoperationROS 2occupancy grid

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