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In immersive humanoid robot teleoperation, there are three main shortcomingsthat can alter the transparency of the visual feedback: the lag between themotion of the operator's and robot's head due to network communication delaysor slow robot joint motion. This latency could cause a noticeable delay in thevisual feedback, which jeopardizes the embodiment quality, can cause dizziness,and affects the interactivity resulting in operator frequent motion pauses forthe visual feedback to settle; (ii) the mismatch between the camera's and theheadset's field-of-views (FOV), the former having generally a lower FOV; and(iii) a mismatch between human's and robot's range of motions of the neck, thelatter being also generally lower. In order to leverage these drawbacks, wedeveloped a decoupled viewpoint control solution for a humanoid platform whichallows visual feedback with low-latency and artificially increases the camera'sFOV range to match that of the operator's headset. Our novel solution uses SLAMtechnology to enhance the visual feedback from a reconstructed mesh,complementing the areas that are not covered by the visual feedback from therobot. The visual feedback is presented as a point cloud in real-time to theoperator. As a result, the operator is fed with real-time vision from therobot's head orientation by observing the pose of the point cloud. Balancingthis kind of awareness and immersion is important in virtual reality basedteleoperation, considering the safety and robustness of the control system. Anexperiment shows the effectiveness of our solution.

Enhanced Visual Feedback with Decoupled Viewpoint Control in Immersive Humanoid Robot Teleoperation using SLAM