{"id":"https://openalex.org/W2966611292","doi":"https://doi.org/10.1109/iros40897.2019.8968598","title":"A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot","display_name":"A VR System for Immersive Teleoperation and Live Exploration with a Mobile Robot","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2966611292","doi":"https://doi.org/10.1109/iros40897.2019.8968598","mag":"2966611292"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1908.02949","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048898460","display_name":"Patrick Stotko","orcid":"https://orcid.org/0000-0002-2608-0278"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Patrick Stotko","raw_affiliation_strings":["Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027392441","display_name":"Stefan Krumpen","orcid":"https://orcid.org/0000-0002-1953-4657"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Stefan Krumpen","raw_affiliation_strings":["Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023789533","display_name":"Max Schwarz","orcid":"https://orcid.org/0000-0002-9942-6604"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Max Schwarz","raw_affiliation_strings":["Institute of Computer Science VI \u2013 Autonomous Intelligent Systems, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science VI \u2013 Autonomous Intelligent Systems, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034330517","display_name":"Christian Lenz","orcid":"https://orcid.org/0000-0003-0953-0019"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Lenz","raw_affiliation_strings":["Institute of Computer Science VI \u2013 Autonomous Intelligent Systems, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science VI \u2013 Autonomous Intelligent Systems, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Institute of Computer Science VI \u2013 Autonomous Intelligent Systems, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science VI \u2013 Autonomous Intelligent Systems, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037976392","display_name":"Reinhard Klein","orcid":"https://orcid.org/0000-0002-5505-9347"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Reinhard Klein","raw_affiliation_strings":["Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017002784","display_name":"Michael Weinmann","orcid":"https://orcid.org/0000-0003-3634-0093"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Weinmann","raw_affiliation_strings":["Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Computer Science II \u2013 Computer Graphics, University of Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5048898460"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":3.7764,"has_fulltext":false,"cited_by_count":111,"citation_normalized_percentile":{"value":0.94745632,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3630","last_page":"3637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10888","display_name":"Augmented Reality Applications","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10648","display_name":"Virtual Reality Applications and Impacts","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.9314762353897095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6990758776664734},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6415477991104126},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.5790938138961792},{"id":"https://openalex.org/keywords/telerobotics","display_name":"Telerobotics","score":0.5531206130981445},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5357780456542969},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42035141587257385},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.3518337309360504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19985583424568176}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9314762353897095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6990758776664734},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6415477991104126},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.5790938138961792},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.5531206130981445},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5357780456542969},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42035141587257385},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.3518337309360504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19985583424568176}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968598","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968598","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1908.02949","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.02949","pdf_url":"https://arxiv.org/pdf/1908.02949","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1908.02949","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1908.02949","pdf_url":"https://arxiv.org/pdf/1908.02949","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W278488923","https://openalex.org/W353406226","https://openalex.org/W1526459853","https://openalex.org/W1538771962","https://openalex.org/W1572135045","https://openalex.org/W1625949922","https://openalex.org/W1904026164","https://openalex.org/W1969798312","https://openalex.org/W1971503540","https://openalex.org/W2004471679","https://openalex.org/W2023507828","https://openalex.org/W2039643173","https://openalex.org/W2042418341","https://openalex.org/W2050312510","https://openalex.org/W2068618856","https://openalex.org/W2071906076","https://openalex.org/W2076748073","https://openalex.org/W2082930097","https://openalex.org/W2097063526","https://openalex.org/W2124646941","https://openalex.org/W2132798126","https://openalex.org/W2136757566","https://openalex.org/W2139881008","https://openalex.org/W2188632634","https://openalex.org/W2229412420","https://openalex.org/W2397498782","https://openalex.org/W2461005315","https://openalex.org/W2532511219","https://openalex.org/W2548420627","https://openalex.org/W2584684405","https://openalex.org/W2588466573","https://openalex.org/W2593994643","https://openalex.org/W2610834935","https://openalex.org/W2611270666","https://openalex.org/W2797072841","https://openalex.org/W2801778672","https://openalex.org/W2895394735","https://openalex.org/W2949209865","https://openalex.org/W2983080181","https://openalex.org/W3102734218","https://openalex.org/W4233857083","https://openalex.org/W4246123534","https://openalex.org/W6634349447","https://openalex.org/W6656284222","https://openalex.org/W6687104902","https://openalex.org/W6755636523"],"related_works":["https://openalex.org/W2046710269","https://openalex.org/W817518365","https://openalex.org/W2097059456","https://openalex.org/W2141648055","https://openalex.org/W2145103607","https://openalex.org/W4367662652","https://openalex.org/W2022619197","https://openalex.org/W2145960295","https://openalex.org/W2078176643","https://openalex.org/W2067221866"],"abstract_inverted_index":{"Applications":[0],"like":[1],"disaster":[2],"management":[3],"and":[4,44,73,110,141,163,175,192,208,212,234],"industrial":[5],"inspection":[6],"often":[7],"require":[8],"experts":[9],"to":[10,24,48,51,90,112,154],"enter":[11],"contaminated":[12],"places.":[13],"To":[14],"circumvent":[15],"the":[16,49,52,57,80,103,113,119,159,166,172,178,194,199],"need":[17],"for":[18,69,121,185],"physical":[19],"presence,":[20],"it":[21],"is":[22,88,108,127],"desirable":[23],"generate":[25],"a":[26,39,64,82,91,98,131,143,189,224,228,235],"fully":[27],"immersive":[28,70],"individual":[29,114],"live":[30,93],"teleoperation":[31,72,222],"experience.":[32],"However,":[33],"standard":[34],"video-based":[35,221],"approaches":[36],"suffer":[37],"from":[38],"limited":[40],"degree":[41,230],"of":[42,102,171,177,201,231],"immersion":[43],"situation":[45,232],"awareness":[46,233],"due":[47],"restriction":[50],"camera":[53],"view,":[54],"which":[55,137],"impacts":[56],"navigation.":[58],"In":[59],"this":[60],"paper,":[61],"we":[62,215],"present":[63],"novel":[65,132],"VR-based":[66],"practical":[67],"system":[68,203],"robot":[71,83,134],"scene":[74,106],"exploration.":[75],"While":[76],"being":[77],"operated":[78],"through":[79],"scene,":[81],"captures":[84],"RGB-D":[85],"data":[86,140,210],"that":[87],"streamed":[89,111],"SLAM-based":[92],"multiclient":[94],"telepresence":[95],"system.":[96],"Here,":[97],"global":[99],"3D":[100],"model":[101],"already":[104],"captured":[105],"parts":[107],"reconstructed":[109],"remote":[115,167],"user":[116,225],"clients":[117],"where":[118],"rendering":[120],"e.g.":[122],"head-mounted":[123],"display":[124],"devices":[125,184],"(HMDs)":[126],"performed.":[128],"We":[129,187],"introduce":[130],"lightweight":[133],"client":[135],"component":[136],"transmits":[138],"robot-specific":[139],"enables":[142],"quick":[144],"integration":[145],"into":[146],"existing":[147],"robotic":[148],"systems.":[149],"This":[150],"way,":[151],"in":[152,165,223,239],"contrast":[153],"first-":[155],"person":[156],"exploration":[157],"systems,":[158],"operators":[160],"can":[161],"explore":[162],"navigate":[164],"site":[168],"completely":[169],"independent":[170],"current":[173],"position":[174],"view":[176],"capturing":[179],"robot,":[180],"complementing":[181],"traditional":[182],"input":[183],"teleoperation.":[186],"provide":[188],"proof-of-concept":[190],"implementation":[191],"demonstrate":[193],"capabilities":[195],"as":[196,198],"well":[197],"performance":[200],"our":[202],"regarding":[204],"interactive":[205],"object":[206],"measurements":[207],"bandwidth-efficient":[209],"streaming":[211],"visualization.":[213],"Furthermore,":[214],"show":[216],"its":[217],"benefits":[218],"over":[219],"purely":[220],"study":[226],"revealing":[227],"higher":[229],"more":[236],"precise":[237],"navigation":[238],"challenging":[240],"environments.":[241]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":30},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":7}],"updated_date":"2026-05-28T09:10:13.091523","created_date":"2025-10-10T00:00:00"}
