Augmented Reality Interfaces for Human-Robot Collaboration: Development of a ROS 2-Based Sensor Streaming Framework and Validation via SLAM Algorithms

arXiv:2609.31396 · cs.RO · Submitted 2026-09-25 · Read on arXiv

cs.RO

Submitted: 2026-09-25

Updated: 2026-09-25

Comments: Bachelor's Thesis, University of Padua (IAS-Lab). 92 pages, 31 figures

Journal ref: Original Bachelor's Thesis (in Italian), University of Padua, 2026

DOI: 10.5281/zenodo.22776582

Code: https://github.com/Unity-Technologies/ROS-TCP-Connector

Project page: https://www.ikea.com/it

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Augmented Reality — 31× in this paper
• Alignment — 20× in this paper · explained in 1 episode
• Absolute Pose Error — 14× in this paper
• Accuracy — 13× in this paper · explained in 1 episode
• Human-Robot Collaboration — 11× in this paper
• Calibration — 9× in this paper · explained in 7 episodes
• Fidelity — 6× in this paper · explained in 2 episodes
• Field of View — 6× in this paper
• Simultaneous Localization and Mapping — 6× in this paper
• Benchmark — 5× in this paper · explained in 2 episodes
• Modularity — 5× in this paper · explained in 9 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Core — 3× in this paper · explained in 2 episodes
• Decoupling — 3× in this paper · explained in 2 episodes
• Modular Architecture — 3× in this paper · explained in 4 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Benchmarking — 2× in this paper · explained in 3 episodes
• Cognitive Load — 2× in this paper · explained in 2 episodes
• Computational overhead — 2× in this paper · explained in 2 episodes
• Cooperation — 2× in this paper · explained in 2 episodes
• Point Clouds — 2× in this paper · explained in 2 episodes
• Abstraction — 1× in this paper · explained in 1 episode
• Adaptability — 1× in this paper · explained in 1 episode
• Aggregation — 1× in this paper · explained in 1 episode
• Data Distribution Service — 1× in this paper
• Modular Components — 1× in this paper · explained in 2 episodes
• Provenance — 1× in this paper · explained in 3 episodes
• Root Mean Square Error — 1× in this paper
• Software Development Kit — 1× in this paper
• Time of Flight — 1× in this paper
• Trace — 1× in this paper · explained in 2 episodes
• Universal Windows Platform — 1× in this paper
• Unlike Virtual Reality — 1× in this paper

Sources

• HoloLens 2 Research Mode as a Tool for Computer Vision Research
• HoloLens 2 Sensor Streaming

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