RHINO-AR: An Augmented Reality Exhibit for Teaching Mobile Robotics Concepts in Museums

arXiv:2604.16384v1 Announce Type: new Abstract: We present RHINO-AR, an interactive Augmented Reality (AR) museum exhibit that reintroduces the historical mobile robot RHINO into its original exhibition environment at the Deutsches Museum Bonn. The system builds on our previous work RHINO-VR, which reconstructed the robot and the environment in virtual reality. Although this created an engaging experience, it also revealed an important limitation, because visitors were separated from the real exhibition space and from the physical robot on display. RHINO-AR addresses this reality gap by placing a virtual reconstruction of the robot directly into the real museum space. Implemented on a Magic Leap~2 headset using Unity, our system combines real-time environment meshing with interactive visualizations of LiDAR sensing, traversability, and path planning to make otherwise invisible robotics processes understandable to non-expert visitors. We evaluated RHINO-AR in a two-day museum study with 22 participants, assessing usability, technical performance, satisfaction, conceptual understanding, and preference comparison to RHINO-VR. The results show that RHINO-AR was well received, effectively conveyed key navigation concepts, and generally preferred over the VR exhibit due to its stronger physical grounding and increased realism.