自動運転車の視点を体感する：映像拡張VRによる物理車両の可視化
Seeing What the Vehicle Sees: Video-Augmented Virtual Reality for Physical Autonomous Vehicles
実機のROS 2自律走行ロボットとMeta Quest 3S上のUnityアプリを連携し、車両状態と車載カメラ映像をVRで提示するフレームワークを構築、20回の走行実験で低遅延・高精度な同期を確認した。
著者: Md Tanjemul Islam, Mohammad Shafin, Md Rafiul Kabir
分類: cs.RO, eess.SY
原文アブストラクト
Autonomous vehicles are expected to improve road safety and efficiency, but passengers often remain uncertain about what the vehicle perceives and why it acts as it does. Virtual reality (VR) offers a safe and repeatable medium for presenting this information, yet most passenger-facing VR studies rely on fully simulated vehicles or pre-scripted scenarios, so the motion and perception shown to the user do not originate from a physically operating autonomous system. This paper presents a video-augmented VR framework that couples a physical ROS 2 autonomous robot vehicle to a Unity 6 application deployed on a Meta Quest 3S headset. The vehicle state and live onboard camera stream are transmitted over two independent communication channels, allowing the virtual vehicle to mirror the physical robot's motion while the passenger simultaneously views the vehicle's first-person camera feed and its navigation decisions through an in-vehicle dashboard interface. We evaluate the framework over 20 repeated closed-loop navigation trials. The system achieves a mean state-update latency of 29.63 ms, a mean relative route-progress error of 2.28% between the physical and virtual vehicles, and video delivery at 10.006 frames per second with 0.25% frame loss. All monitored navigation decisions were correctly reflected in the VR interface with no missed or incorrect notifications. The results indicate that the framework can support temporally synchronized, semantically consistent, and accurate route-progress representation for immersive observation of physical autonomous-vehicle behavior.