发表机构
Duke University（杜克大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究针对共享人机工作空间中现有多智能体SLAM系统忽略异构智能体不同延迟要求的问题，设计实现SHARE系统。该系统以用户为中心，构建体验模型并调整传输优先级，利用视觉特征冗余降低延迟，实际部署效果良好，提升了用户感知。
AI 中文摘要
在共享物理空间中使用增强现实（AR）接口的人机协作（HRC）由同步定位与地图构建（SLAM）提供支持。现有的多智能体SLAM系统依靠边缘服务器来整合多个资源受限智能体的视觉发现、进行计算并安排对其本地地图的更新。但边缘服务器对所有智能体一视同仁，忽略了异构HRC智能体（机器人和头戴式AR用户）根本不同的延迟要求。这种统一的资源分配常导致用户操作延迟高。本文设计、实现并评估了SHARE，这是以用户为中心的SLAM系统，在保持机器人精确跟踪性能的同时，优先考虑AR用户体验。它构建了HRC智能体的首创体验模型并自适应调整传输优先级。为降低端到端延迟，利用共享人机工作空间中智能体获取的视觉特征冗余减少基于边缘处理的计算时间。使用商用AR头显和地面机器人的实际部署实现了AR用户平均延迟13.22毫秒（比基线降低43.3%），同时保持亚2厘米的跟踪精度。用户研究进一步揭示了用户感知上的显著改善。
英文摘要
Human-Robot Collaboration (HRC) in shared physical spaces using Augmented Reality (AR) interfaces is powered by Simultaneous Localization and Mapping (SLAM). Existing multi-agent SLAM systems rely on an edge server to combine visual findings of multiple resource-constrained agents, perform computation, and schedule updates to their local maps. However, the edge treats all agents uniformly and ignores the fundamentally different latency requirements of heterogeneous HRC agents: robots and head-mounted AR users. This uniform resource allocation often results in high lag for user manipulation, as it does not meet the stringent latency requirements of AR. In this work, we design, implement, and evaluate SHARE, a user-centric SLAM system that strategically prioritizes AR user experience while maintaining accurate tracking performance for robots. SHARE builds a first-of-its-kind experience model for HRC agents and adaptively adjusts transmission priorities to match it. To reduce end-to-end latency, SHARE leverages the redundancy of visual features acquired by agents in shared human-robot workspaces to reduce computation time induced by edge-based processing. Real-world deployment with commercial AR headsets and a ground robot achieves 13.22 ms average latency for AR users (43.3% reduction from baseline) while maintaining sub-2-centimeter tracking accuracy. User studies further reveal statistically significant improvements in user perception.
Comments28 pages, 15 figures, 1 table
DOI：10.1145/3832004
