  We present a method for real-time stereo scene capture and remote VR
visualization that allows a human operator to freely move their head and thus
intuitively control their perspective during teleoperation. The stereo camera
is mounted on a 6D robotic arm, which follows the operator's head pose.
Existing VR teleoperation systems either induce high latencies on head
movements, leading to motion sickness, or use scene reconstruction methods to
allow re-rendering of the scene from different perspectives, which cannot
handle dynamic scenes effectively. Instead, we present a decoupled approach
which renders captured camera images as spheres, assuming constant distance.
This allows very fast re-rendering on head pose changes while keeping the
resulting temporary distortions during head translations small. We present
qualitative examples, quantitative results in the form of lab experiments and a
small user study, showing that our method outperforms other visualization
methods.
