Real-time display of onboard spherical images that synchronizes head pose of operator for robotic search

This paper describes a real-time transmission and display system of a spherical image stream from a robot whose end-to-end latency is 155 ms. The proposed system contains a head mount display with an IMU so that an operator can quickly and intuitively change the display perspective. The effectiveness of the low latency and the intuitive operability are verified by multiple experiments using an actual robot.