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Recently, the expectation to tele-operated mobile robots has been increasing much in order to perform the monitoring in various scenes. However, there are many critical problems in tele-operated system. Especially, we must improve the restriction of visual range, the usability of human interface, and intention sharing with the operator. In this paper, we discuss the monitoring system of a tele-operated robot and human interface based on visual information and distance information from the tele-operated mobile robots. Next, we propose a method of a navigation system based on multi-featured visualization. Finally, we propose a tele-operated system using iPhone, and show several experimental results of the proposed method.