A 3DGS-Driven Dynamic Viewpoint and Vibrotactile Framework for Subsea Teleoperation Validated via fNIRS
A multimodal teleoperation architecture for ROVs using 3D Gaussian Splatting to generate occlusion-free exocentric views and a vibrotactile suit for haptic cues. A human study with 30 participants showed the exocentric view significantly improves performance under high latency, with fNIRS indicating sustained executive control rather than cognitive overload.
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[Submitted on 10 Jul 2026]
Title:A 3DGS-Driven Dynamic Viewpoint and Vibrotactile Framework for Subsea Teleoperation Validated via fNIRS
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Abstract:Teleoperating remotely operated vehicles (ROVs) in flooded, cluttered infrastructure is fundamentally limited by narrow 2D egocentric views and subsea communication latency. We present a multimodal teleoperation architecture built on a ROS-Unity framework that decouples proactive spatial planning from reactive boundary avoidance. The system replaces static camera feeds with a Dynamic Adaptive Viewpoint System (DAVS), which uses continuous optimization and real-time 3D Gaussian Splatting (3DGS) to synthesize an occlusion-free exocentric viewpoint from onboard state estimation. To further reduce sensory workload, a torso-mounted vibrotactile suit maps local obstacle clearance to intuitive haptic proximity cues. The architecture was evaluated in a controlled human-subject study (N = 30) using a BlueROV2 navigating a complex simulated underwater facility. A 3 x 4 repeated-measures design compared three interaction modalities (Egocentric, Haptic, Exocentric) under four communication delays (0.0-1.0 s). Performance was quantified using behavioral measures and functional near-infrared spectroscopy (fNIRS) to assess task-evoked prefrontal activation. Results show that reactive haptic feedback improves path adherence under minimal delay, whereas the 3DGS-driven exocentric visualization provides superior resilience under severe latency (0.5-1.0 s), significantly outperforming the other modalities. fNIRS further revealed a cognitive disengagement effect: increasing latency during conventional egocentric teleoperation overloaded working memory and reduced prefrontal activation, whereas the proactive spatial context provided by DAVS sustained executive control. These findings demonstrate that spatially grounded, multimodal assistance can substantially improve operator performance and cognitive endurance during latency-degraded underwater teleoperation.
Comments: 9 pages, 6 figures
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2607.13067 [cs.RO]
(or arXiv:2607.13067v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.13067
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Jing Du [view email] [v1] Fri, 10 Jul 2026 22:12:10 UTC (28,783 KB)
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