Mixed reality-integrated 3D/2D vision mapping for intuitive teleoperation of mobile manipulator

•This work evaluates the impact of the integrated 3D/2D vision and motion mapping schemes on teleoperation efficiency and user experience in a mixed reality (MR) environment.•A significant enhancement in task performance is achieved with the point cloud within an MR environment (MR-3DPC) vision and motion mapping scheme, while minimizing training effort and cognitive workload.•The MR-integrated 3D/2D vision and motion mapping schemes of teleoperation reduced overall task completion times by 34% and 17%.•It is found using point cloud within an MR environment (MR-3DPC) outperforms displaying stereoscopic vision (MR-3DSV) in MR and can enhance users’ stereoscopic perception and task performance.