Remote Scene Interactive Exploration Based on Asynchronous Trajectory Controlled Virtual Reality 3D Reconstruction

Visual Reality's (VR) application in Remote Scene Exploration and Collaboration (RSEAC) has received widespread attention. Users can immersively perceive a 3D environment via a Head-mounted Display (HMD). There have always been two key issues in the application development of RSEAC. One is the processing and representation of scene data, and the other is to realize interactive control of Remote Mobile Exploration Vehicle (RMEV). In this paper, a remote scene interactive acquisition and 3D virtual reconstruction system is developed, allowing users to immersively explore remote unknown environments in real time and realize information interaction with RMEV. This paper proposes a representation method that combines virtual and real, using point cloud fitting methods to fit scene point clouds with regular shapes and using shape parameters to replace point cloud transmission and scene reconstruction. An Adaptive Tracking Control (ATC) scheme is proposed to avoid complicated operation processes, and its asynchronous trajectory control method can still achieve interactive control of RMEV when transmission delays occur. Finally, the designed experiments verified that using the point cloud fitting method can effectively reduce the number of transmitted point clouds while ensuring the user's recognition of the scene, and the ATC scheme can accurately realize information interaction with RMEV.