Comparison of Multi-View and Merged-View Mining Vehicle Teleoperation Systems Through Eye-Tracking

Abstract

While multi-view visualization systems are widely used for mining vehicle teleoperation, they often impose high cognitive load and restrict operator attention. To explore a more efficient alternative, this study evaluated a merged-view interface that integrates multiple camera perspectives into a single coherent display. In a controlled experiment, 35 participants navigated a teleoperated robot along a 50 m lab-scale path representative of an underground mine under both multi-view and merged-view conditions. Task performance and eye-tracking data—including completion time, path adherence, and speed-limit violations—were collected for comparison. The merged-view system enabled 6% faster completion times, 21% higher path adherence, and 28% fewer speed-limit violations. Eye-tracking metrics indicated more efficient and distributed attention: blink rate decreased by 29%, fixation duration shortened by 18%, saccade amplitude increased by 11%, and normalized gaze-transition entropy rose by 14%, reflecting broader and more adaptive scanning. NASA-TLX scores further showed a 27% reduction in perceived workload. Regression-based sensitivity analysis revealed that gaze entropy was the strongest predictor of efficiency in the multi-view condition, while fixation duration dominated under merged-view visualization. For path adherence, blink rate was most influential in the multi-view setup, whereas fixation duration became key in merged-view operation. Overall, the results indicated that merged-view visualization improved visual attention distribution and reduced cognitive tunneling indicators in a controlled laboratory teleoperation task, offering early-stage, interface-level insights motivated by mining-relevant teleoperation challenges.