MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Reality (ICRA 2026)

MR-SLAM is a mixed reality system for supervising multi-robot SLAM. An operator wearing a Meta Quest 3 teleoperates three simulated TurtleBot3 robots through a passthrough view with real-world occlusion, while spatially anchored dashboard panels report mapping progress in situ. Each robot runs an independent SLAM Toolbox instance whose occupancy grid is merged in real time on a ROS 2 back-end.

Presented at the IEEE ICRA 2026 Workshop on Multi-Modal Spatial AI (MM-SpatialAI).

Paper (arXiv): https://arxiv.org/abs/2605.16432
Code: https://github.com/prakash-aryan/MR-SLAM
Workshop: https://xingxingzuo.github.io/MM-Spat...

Authors: Prakash Aryan, Cem Erdogdu, Kavinaya Kumarchokkappan, Timo Kehrer, Sebastiano Panichella
University of Bern | AI4I - The Italian Institute of Artificial Intelligence for Industry

------------------------------------------------------------
Chapters
------------------------------------------------------------
0:00 Introduction
0:06 System architecture (Unity + ROS 2)
0:29 TF tree and ROS 2 topics
0:41 Passthrough MR and AR plane detection
1:06 Live multi-robot teleoperation
1:26 In-headset dashboard
1:35 Per-robot SLAM and map merging
1:52 Results
1:57 Links and citation

------------------------------------------------------------
Summary
------------------------------------------------------------
Meta Quest 3 passthrough MR with real-world occlusion via Meta's MR Utility Kit (MRUK)
Three simulated TurtleBot3 robots with raycast 2D LiDAR and controller teleoperation
Unity to ROS 2 bridge via ros_tcp_connector / ros_tcp_endpoint
Three independent SLAM Toolbox instances, fused with multirobot_map_merge
Spatially anchored dashboards showing scan rate, coverage, and map size per robot
Across five sessions: 17.9 m^2 merged coverage, 94.7% cross-instance occupancy
consistency, and 8.83 Hz scan delivery

------------------------------------------------------------
Citation
------------------------------------------------------------
@misc{aryan2026mrslamimmersivespatialsupervision,
title={MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Reality},
author={Prakash Aryan and Cem Erdogdu and Kavinaya Kumarchokkappan and Timo Kehrer and Sebastiano Panichella},
year={2026},
eprint={2605.16432},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2605.16432}
}

#robotics #SLAM #mixedreality #ROS2 #MetaQuest3 #multirobot #spatialAI #Unity #ICRA2026

Видео MR-SLAM: Immersive Spatial Supervision for Multi-Robot Mapping via Mixed Reality (ICRA 2026) канала Prakash Aryan