{"ID":2873324,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.06433","arxiv_id":"2509.06433","title":"Real-time Photorealistic Mapping for Situational Awareness in Robot Teleoperation","abstract":"Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as it enables the teleoperator to progressively explore the site from multiple perspectives. However, traditional online map-based teleoperation systems struggle to generate visually accurate 3D maps in real-time due to the high computational cost involved, leading to poor teleoperation performances. In this work, we propose a solution to improve teleoperation efficiency in unknown environments. Our approach proposes a novel, modular and efficient GPU-based integration between recent advancement in gaussian splatting SLAM and existing online map-based teleoperation systems. We compare the proposed solution against state-of-the-art teleoperation systems and validate its performances through real-world experiments using an aerial vehicle. The results show significant improvements in decision-making speed and more accurate interaction with the environment, leading to greater teleoperation efficiency. In doing so, our system enhances remote teleoperation by seamlessly integrating photorealistic mapping generation with real-time performances, enabling effective teleoperation in unfamiliar environments.","short_abstract":"Achieving efficient remote teleoperation is particularly challenging in unknown environments, as the teleoperator must rapidly build an understanding of the site's layout. Online 3D mapping is a proven strategy to tackle this challenge, as it enables the teleoperator to progressively explore the site from multiple pers...","url_abs":"https://arxiv.org/abs/2509.06433","url_pdf":"https://arxiv.org/pdf/2509.06433v2","authors":"[\"Ian Page\",\"Pierre Susbielle\",\"Olivier Aycard\",\"Pierre-Brice Wieber\"]","published":"2025-09-08T08:28:30Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}