Abstract:
This project presents the development of a mobile telepresence system that enables real-time 3D mapping and remote environment visualization using a VR headset. At its core, the system in- tegrates an Intel RealSense D455 RGB-D camera mounted on a rover, which streams depth and color data to a ROS 2-based onboard computer. Utilizing the RTAB-Map SLAM framework, the system incrementally reconstructs a dense 3D map of the environment as the rover explores. This spatial data is visualized using RViz2 and is intended for further integration with Unity for immersive VR rendering via HTC Vive. The current implementation successfully demonstrates the capture and visualization of live camera feeds and the foundational setup for 3D mapping. This progress lays the groundwork for future enhancements such as full VR telepresence, remote control, and multi-sensor fusion.
