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检索条件"机构=Virtual Environments and Computer Graphics Group"

共 11 条记录，以下是1-10 订阅

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Fusion without independence

Fusion without independence

引用

IET Seminar on Target Tracking and Data Fusion: Algorithms and Applications

作者： Julier, S.J. Virtual Environments and Computer Graphics Group Department of Computer Science University College London Gower Street London WC1E 6BT

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Practicing what we preach: IEEE VR 2009 virtual program committee meeting

Practicing what we preach: IEEE VR 2009 virtual program comm...

引用

作者： Lindeman, Robert W. Reiners, Dirk Steed, Anthony Human Interaction in Virtual Environments Lab Department of Computer Science Worcester Polytechnic Institute Worcester MA United States Center for Advanced Computer Studies University of Louisiana Lafayette LA United States Virtual Environments and Computer Graphics Group Department of Computer Science University College London London United Kingdom

This article reports on the experience of conducting the program committee (PC) meeting for the IEEE VR 2009 conference in Second Life. More than 50 PC members from around the globe met virtually over a two-day period to decide which papers to accept for presentation at the conference. Survey responses from 42 of the PC members indicate generally positive feelings toward this meeting format, although several alterations will help improve interaction between attendees in future meetings. © 2009 IEEE.

关键词： Probability density function

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Analyses of human sensitivity to redirected walking 08

Analyses of human sensitivity to redirected walking

引用

VRST 2008 ACM Symposium on virtual Reality Software and Technology

作者： Steinicke, Frank Bruder, Gerd Jerald, Jason Frenz, Harald Lappe, Markus Visualization and Computer Graphics Group Department of Computer Science WWU Münster Germany Effective Virtual Environments Group Department of Computer Science UNC Chapel Hill United States Psychology Department II WWU Münster Germany

ISBN: (纸本)9781595939517

Redirected walking allows users to walk through large-scale immersive virtual environments (IVEs) while physically remaining in a reasonably small workspace by intentionally injecting scene motion into the IVE. In a constant stimuli experiment with a twoalternative-forced-choice task we have quantified how much humans can unknowingly be redirected on virtual paths which are different from the paths they actually walk. 18 subjects have been tested in four different experiments: (E1a) discrimination between virtual and physical rotation, (E1b) discrimination between two successive rotations, (E2) discrimination between virtual and physical translation, and discrimination of walking direction (E3a) without and (E3b) with start-up. In experiment E1a subjects performed rotations to which different gains have been applied, and then had to choose whether or not the visually perceived rotation was greater than the physical rotation. In experiment E1b subjects discriminated between two successive rotations where different gains have been applied to the physical rotation. In experiment E2 subjects chose if they thought that the physical walk was longer than the visually perceived scaled travel distance. In experiment E3a subjects walked a straight path in the IVE which was physically bent to the left or to the right, and they estimate the direction of the curvature. In experiment E3a the gain was applied immediately, whereas the gain was applied after a start-up of two meters in experiment E3b. Our results show that users can be turned physically about 68% more or 10% less than the perceived virtual rotation, distances can be up-or down-scaled by 22%, and users can be redirected on an circular arc with a radius greater than 24 meters while they believe they are walking straight. Copyright 2008 ACM.

关键词： Rotation

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Presence-enhancing real walking user interface for first-person video games

Presence-enhancing real walking user interface for first-per...

引用

2009 ACM SIGGRAPH Symposium on Video Games, Sandbox '09

作者： Steinicke, Frank Bruder, Gerd Hinrichs, Klaus Steed, Anthony Visualization and Computer Graphics Research Group Department of Computer Science University of Munster Einsteinstraße 62 48149 Munster Germany Virtual Environments and Computer Graphics Group Department of Computer Science University College London Gower Street London WC1E 6BT United Kingdom

ISBN: (纸本)9781605585147

For most first-person video games it is important that players have a high level of feeling presence in the displayed game environment. virtual reality (VR) technologies have enormous potential to enhance gameplay since players can experience the game immersively from the perspective of the player's virtual character. However, the VR technology itself, such as tracking devices and cabling, has until recently restricted the ability of users to really walk over long distances. In this paper we introduce a VR-based user interface for presence-enhancing gameplay with which players can explore the game environment in the most natural way, i. e., by real walking. While the player walks through the virtual game environment, we guide him/her on a physical path which is different from the virtual path and fits into the VR laboratory space. In order to further increase the VR experience, we introduce the concept of transitional environments. Such a transitional environment is a virtual replica of the laboratory environment, where the VR experience starts and which enables a gradual transition to the game environment. We have quantified how much humans can unknowingly be redirected and whether or not a gradual transition to a first-person game via a transitional environment increases the user's sense of presence. © 2009 ACM.

关键词： virtual reality

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Estimating and Exploiting the Degree of Independent Information in Distributed Data Fusion

Estimating and Exploiting the Degree of Independent Informat...

引用

International Conference on Information Fusion

作者： Simon J. Julier Virtual Environments and Computer Graphics Group Department of Computer Science University College London

ISBN: (纸本)9780982443804

Double counting is a major problem in distributed data fusion systems. To maintain flexibility and scalability, distributed data fusion algorithms should just use local information. However globally optimal solutions only exist in highly restricted circumstances. Suboptimal algorithms can be applied in a far wider range of cases, but can be very conservative. In this paper we present preliminary work to develop distributed data fusion algorithms that can estimate and exploit the correlations between the estimates stored in different nodes in a distributed data fusion network. We show that partial information can be modelled as kind of "overweighted" Covariance Intersection algorithm. We motivate the need for an adaptive scheme by analysing the correlation behaviour of a simple distributed data fusion network and show that it is complicated and counterintuitive. Two simple approaches to estimate the correlation structure are presented and their results analysed. We show that significant advantages can be obtained.

关键词： Tracking Filtering Estimation Distributed data fusion Covariance intersection Bounded covariance inflation Unmanned aerial vehicles

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Fusion without independence

Fusion without independence

引用

2008 IET Seminar on Target Tracking and Data Fusion: Algorithms and Applications

作者： S. J. Julier Virtual Environments and Computer Graphics Group Department of Computer Science University College London London UK

ISBN: (纸本)9780863419102

Conditional independence is perhaps the most pervasive of all assumptions used in data fusion and estimation algorithms. If a noise corrupted observation is conditionally independent of the system state, Bayes Rule can be used in an optimal, recursive manner. However, this assumption rarely holds true in practice. One cause of dependency is modelling errors: any process or observation model is an approximation and incorrectly describes the true response of the system. A second cause is simplification. Even if the models are precisely known, the full Bayesian computations could be prohibitively expensive and some approximation must be used.

关键词： approximation Fusion reactions Fusion, biological FUSION fusion (melting) Conditional Independence Data fusion system response Noise data integration Bayes

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A new probability distribution for simultaneous representation of uncertain position and orientation

A new probability distribution for simultaneous representati...

引用

International Conference on Information Fusion

作者： Igor Gilitschenski Gerhard Kurz Simon J. Julier Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Karlsruhe Institute of Technology (KIT) Germany Department of Computer Science Virtual Environments and Computer Graphics Group

This work proposes a novel way to represent uncertainty on the Lie group of rigid-body motions in the plane. This is achieved by using dual quaternions for representation of a planar rigid-body motion and proposing a probability distribution from the exponential family of distributions that inherently respects the underlying structure of the representation. This is particularly beneficial in scenarios involving strong measurement noise. A relationship between the newly proposed distributional model and the Bingham distribution is discussed. The presented results involve formulas for computation of the normalization constant, the mode, parameter estimation techniques, and a closed-form Bayesian measurement fusion.

关键词： Quaternions Estimation Vectors Transmission line matrix methods Probability distribution Bayes methods Robot sensing systems

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Nonlinear Federated Filtering

Nonlinear Federated Filtering

引用

International Conference on Information Fusion

作者： Benjamin Noack Simon J. Julier Marc Reinhardt Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Institute for Anthropomatics Karlsruhe Institute of Technology (KIT) Virtual Environments and Computer Graphics Group (VECG) Department of Computer Science University College London (UCL)

ISBN: (纸本)9781479902842

The federated Kalman filter embodies an efficient and easy-to-implement solution for linear distributed estimation problems. Data from independent sensors can be processed locally and in parallel on different nodes without running the risk of erroneously ignoring possible dependencies. The underlying idea is to counteract the common process noise issue by inflating the joint process noise matrix. In this paper, the same trick is generalized to nonlinear models and non-Gaussian process noise. The probability density of the joint process noise is split into an exponential mixture of transition densities. By this means, the process noise is modeled to independently affect the local system models. The estimation results provided by the sensor devices can then be fused, just as if they were indeed independent.

关键词： Federated Kalman Filter Nonlinear Estimation Distributed Estimation

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Treatment of biased and dependent sensor data in graph-based SLAM

Treatment of biased and dependent sensor data in graph-based...

引用

International Conference on Information Fusion

作者： Benjamin Noack Simon J. Julier Uwe D. Hanebeck Intelligent Sensor-Actuator-Systems Laboratory (ISAS) Karlsruhe Institute of Technology (KIT) Germany Virtual Environments and Computer Graphics Group (VECG) University College London (UCL) United Kingdom

ISBN: (纸本)9781479974047

A common approach to attack the simultaneous localization and mapping problem (SLAM) is to consider factor-graph formulations of the underlying filtering and estimation setup. While Kalman filter-based methods provide an estimate for the current pose of a robot and all landmark positions, graph-based approaches take not only the current pose into account but also the entire trajectory of the robot and have to solve a nonlinear least-squares optimization problem. Using graph-based representations has proven to be highly scalable and very accurate as compared with traditional filter-based approaches. However, biased measurements as well as unmodeled correlations can lead to a sharp deterioration in the estimation quality and hence require careful consideration. In this paper, a method to incorporate biased or dependent measurement information is proposed that can easily be integrated into existing optimization algorithms for graph-based SLAM. For biased sensor data, techniques from ellipsoidal calculus are employed to compute the corresponding information matrices. Dependencies among noise terms are treated by a generalization of the covariance intersection concept. The treatment of both biased and correlated sensor data rest upon the inflation of the involved error matrices. Simulations are used to discuss and evaluate the proposed method.

关键词： Simultaneous localization and mapping Covariance matrices Joints Optimization Noise

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Taxonomy and Implementation of Redirection Techniques for Ubiquitous Passive Haptic Feedback

Taxonomy and Implementation of Redirection Techniques for Ub...

引用

International Conference on Cyberworlds

作者： Frank Steinicke Gerd Bruder Luv Kohli Jason Jerald Klaus Hinrichs Visualization and Computer Graphics (VisCG) Research Group Department of Computer Science Westfälische Wilhelms-Universität Münster Germany Effective Virtual Environments (EVE) Group Department of Computer Science University of North Carolina Chapel Hill USA

Traveling through immersive virtual environments (IVEs) by means of real walking is an important activity to increase naturalness of VR-based interaction. However, the size of the virtual world often exceeds the size of the tracked space so that a straightforward implementation of omni-directional and unlimited walking is not possible. Redirected walking is one concept to solve this problem of walking in IVEs by inconspicuously guiding the user on a physical path that may differ from the path the user visually perceives. When the user approaches a virtual object she can be redirected to a real proxy object that is registered to the virtual counterpart and provides passive haptic feedback. In such passive haptic environments, any number of virtual objects can be mapped to proxy objects having similar haptic properties, e.g., size, shape and texture. The user can sense a virtual object by touching its real world counterpart. Redirecting a user to a registered proxy object makes it necessary to predict the user's intended position in the IVE. Based on this target position we determine a path through the physical space such that the user is guided to the registered proxy object. We present a taxonomy of possible redirection techniques that enable user guidance such that inconsistencies between visual and proprioceptive stimuli are imperceptible. We describe how a user's target in the virtual world can be predicted reliably and how a corresponding real-world path to the registered proxy object can be derived.

关键词： Taxonomy Haptic interfaces Feedback Legged locomotion virtual environment Space exploration computer science Navigation Large-scale systems graphics

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