## 5 Conclusions  
We compared the Microsoft Hololens 2 (AR) and the Meta Quest 2 (VR) headsets for an interactive semantic mapping task. Though the Quest 2 is a VR headset, we emulated AR on it through the \"Passthrough\" feature, which lets users see the environment from a video feed generated by its outward-facing IR cameras. A proof-of-concept mapping application interface was developed for this task, wherein users were provided mapping functionalities including the ability to add, delete, and manipulate virtual primitively shaped objects and the ability to attach semantic labels to them. A user study was conducted, where 12 participants were asked to provide their subjective opinions on intuitiveness, visual performance, and preference. Task completion time and map accuracy were also measured. The results of the user study show that participants subjectively found the VR headset to be easier to learn, more responsive to user input, and perceived to be more efficient compared to the AR headset. Participants also found that VR provided better visualization of virtual objects. Furthermore, the participants completed the task faster and generated more accurate bounding boxes with the VR headset. We attribute these results to the use of handheld motion controllers for the VR headset, which provides more precise control for object manipulation compared to natural hand gestures used for the Hololens 2. This could change if, in the future, the state-of-the-art hand-tracking and gesture recognition is improved. The AR headset, on the other hand, was rated higher for seeing and inter \begin{table}
\begin{tabular}{c c c} \hline \hline  & **AR** & **VR** \\ \hline Bottle & 0.22 (\(\sigma=0.19\)) & 0.40 (\(\sigma=0.21\)) \\ \hline Can & 0.20 (\(\sigma=0.18\)) & 0.39 (\(\sigma=0.23\)) \\ \hline Apple & 0.25 (\(\sigma=0.20\)) & 0.32 (\(\sigma=0.15\)) \\ \hline Futsal Ball & 0.39 (\(\sigma=0.16\)) & 0.54 (\(\sigma=0.14\)) \\ \hline Small Box & 0.10 (\(\sigma=0.11\)) & 0.15 (\(\sigma=0.11\)) \\ \hline Large Box & 0.42 (\(\sigma=0.20\)) & 0.64 (\(\sigma=0.19\)) \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Average IoU (%) and standard deviation for each object in the mapping environment. preting the real world. This shows that the participants preferred seeing the real world instead of observing the environment through a camera feed. Given this observation, an immediate improvement to the VR headset would be the option to show the world through a color camera feed with a high refresh rate and low latency. However, all participants indicated that they preferred the VR headset for this task, which shows that users placed a greater value on the high-precision controls for this interactive mapping task. This was an interesting result considering that the users were constrained to see the world through a low-resolution grayscale camera feed when using the VR headset. Therefore, we can conclude that, with today's technology, it would be best to combine the best features of both AR and VR headsets; seeing the real world accurately as in the AR headset whilst having handheld controllers like those found with VR headsets. Given the promising results of the user study for the VR headset, we can also claim that VR headsets can be used as pseudo-AR headsets by viewing a camera feed without compromising the user experience, a conclusion made in other related studies [20; 21]. This is an important advantage for VR headsets, especially considering that AR headsets are currently multiple times more expensive than VR headsets. However, we note that the task in our experiments was completed in under 4 min on average. We believe that seeing the world through a camera's view could be tiring for people and might lead to motion sickness, therefore future work should investigate whether the conclusions of our study can be applied to other interactive tasks that require wearing the headsets for longer periods. Conceptualization, A.C.; Methodology, A.C.; Software, N.K. ; Validation, M.G. ; Formal analysis, N.K. and M.G. ; Investigation, N.K.