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i
SPECIAL STUDY ON VIRUAL REALITY TECHNOLOGY: VIRTUAL
REALITY HEAD-MOUNTED DISPLAY AND INTERACTION DEVICE
by
Sra Sontisirkit
Examination Committee: Prof. Sumanta Guha
Dr. Matthew N. Dailey
Dr. Raphael Duboz
Nationality: Thai
Previous Degree: Master of Computer Science
Asian Institute of Technology, Thailand
Asian Institute of Technology
School of Engineering and Technology
Thailand
August 2014
ii
TABLE OF CONTENTS
Chapter Title Page
Title Page i
Table of Contents ii
List of Figures iii
List of Tables iv
1 Introduction 1
1.1 Background 1
1.2 Problem Statement 1
1.3 Objectives 1
2 Literature Review 2
2.1 What is Virtual Reality? 2
2.2 History of Virtual Reality Technology 3
2.3 Definition of immersion and presences in virtual reality 5
2.4 Virtual reality display 6
2.4.1 Visual display 6
2.4.2 Audio display 7
2.4.3 Haptic display 8
2.4.4 Vestibular display 9
2.4.5 Other display 9
2.5 Present Technology 10
2.5.1 Head Mounted Display Technology in 2010s for Virtual reality 10
2.5.2 Interaction Technology 11
2.6 Virtual reality for learning/training system 13
2.7 Developing interactive virtual reality with Oculus rift DK2 and Leap
motion controller.
14
2.7.1 Hardware Specification 14
2.7.2 Software Specification 14
3 Conclusions and Future works 16
3.1 Objectives Review 16
3.2 Conclusions 16
3.3 Future works 17
References 18
iii
LIST OF FIGURES
Figure Title Page
2.1 4DX Theatre: the theatre can stimulate wind, bubbles, strobe light, fog,
scent, and vibration, short bursts of sharp air, face water and 3D display
2
2.2 A Holmes stereoscope and a Stereo card of a stereoscope 3
2.3 A poster of the Sensorama machin and Stereoscopic-Television Apparatus
for Individual Use that developed by Morton Heilig.
3
2.4 Interactive computer graphics with his Sketchpad application and the
Ultimate Display that invented by Ivan Sutherland.
4
2.5 The structure of the CAVE and the sample CAVE application 4
2.6 The PHANTOM Desktop Device and the PHANTOM Omni Device 5
2.7 Human-Virtual Environment interaction loop 5
2.8 Difference of quality of display between Oculus rift DK1 and DK2 6
2.9 A taxonomy of spatial manipulation (from the operator’s perspective), or
of spatial hearing (from the listener’s perspective)
7
2.10 Audio rendering pipeline 8
2.11 The system architecture of Dental Skills Training Simulator that
developed by Dr. Phattanapon Rhienmora.
8
2.12 The 360° vestibular display flight simulator from FLY-Motion 9
2.13 Google Cardboard: virtual reality viewer 11
2.14 A visual gamepad in the Architecture Visualization demo created by
Viewport
12
2.15 Neurosurgery resident testing a brain surgery simulation and screenshot of
tumor-debulking training task
13
2.16 My interactive virtual reality system 14
2.17 Screenshot of my interactive virtual reality: The model viewer. 15
iv
LIST OF TABLES
Table Title Page
2.1 The 5 basic tastes and the chemical substances to generate taste 9
2.2 The list of head mounted displays in 2010s 10
2.3 The list of interaction device in 2010s 13
1
CHAPTER 1
INTRODUCTION
This chapter describes background, motivation of this special study and introduces
technologies that take part in the research area. The detailed technical background is given in
the chapter two.
1.1 Background
Now a day, people interact via digital media more and more. Virtual reality can represent in
many aspects of life: managing business, learning, entertainment, even sexual relationships.
The development in virtual reality technology are accelerating to ensure virtual experiences
will become more immersive by providing sensory information that makes people feel they
are “inside” virtual environment. In few years ago, there are many companies have developed
low cost head mounted displays, motion capture devices and haptic displays. This allow more
developers and researchers can afford to build their own virtual reality system.
1.2 Problem Statement
Even though virtual reality devices are cheaper than 2000s, developing a virtual reality
system are very hard because developer need to understand the architecture of virtual reality
system and select the proper tools and devices for specific task. So this report guidelines the
basic of developing virtual reality system.
1.3 Objective
● To understand the concept of virtual reality.
● To understand the architecture and display devices of virtual reality system .
● To observe technologies for developing virtual reality system.
● To understand the benefit of using virtual reality in educational.
● To understand how to develop virtual reality system with Unity3D, Oculus Rift and Leap
Motion Controller on Windows OS.
2
CHAPTER 2
LITERATURE REVIEW
This chapter describes the relevant literature and the algorithms that related to this special
study.
2.1 What is Virtual Reality?
There are many definition of Virtual Reality according to researchers and users point of
view [1, 2]. The definition of Virtual Reality that I agree with is “VR is a high end computer
interface that evolves real time simulation and interaction through multiple sensorial
channels. These sensorial modalities are visual, auditory, tactile, smell, taste and other
senses.”[3].
One important feature to make the system creating virtual environment as real as
possible with the real time interaction, which means that virtual reality system must able to
receive inputs from real world for changing the virtual environment continuously and
naturally.
Figure 2.1: 4DX Theatre: the theatre can stimulate wind, bubbles, strobe light, fog, scent, vibration, short
bursts of sharp air, face water and 3D display [4].
3
2.2 History of Virtual Reality Technology
Back to 1850s, Sr. Oliver Wendell Holmes created Holmes stereoscope that consisted
of two prismatic lenses and a wooden stand to hold the stereo card. Holmes stereoscope was
the most popular stereoscope during 19th
century [5].
In 1956, Morton Heilig developed Sensorama machine. The machine gave the player
the experience of riding a motorcycle on the streets of Brooklyn and it can simulate the wind
on player face, the vibration of the motorcycle seat, a 3D view, and even smells of the city. In
1960, Morton Heilig receives a U.S. Patent for the first Head-Mounted Display call
“Stereoscopic-Television Apparatus for Individual Use” [2].
Figure 2.2: A Holmes stereoscope and a Stereo card of a stereoscope [5].
Figure 2.3: A poster of the Sensorama machine[2] and Stereoscopic-Television Apparatus for Individual Use
that developed by Morton Heilig[6].
4
In 1963, Ivan Sutherland created interactive computer graphics with his Sketchpad
application. After 2 years, he created Head-Mounted Display call “the Ultimate Display” that
can tracking the user head and display 3D graphic.
In 1977, Thomas A. DeFanti and Daniel J. Sandin from the Electronic Visualization
Laboratory (EVL) at University of Illinois, Chicago, created the first wired glove call “Sayre
Glove” that use to generate inputs to receiver by capturing physical data such as bending of
fingers. In 1992, EVL created the virtual room call “CAVE”. Graphics are projected in stereo
onto three walls and the floor and viewed with active stereo glasses equipped with a location
sensor. When user move, the system will change the display according to user position in
real-time to achieve a fully immersive experience.
In 1993, The MIT student name Thomas Massie and Professor Kenneth Salisbury
developed low-cost force-display device call “PHANTOM”. Now they are SensAble
Technologies, Inc.
Figure 2.4: Interactive computer graphics with his Sketchpad application and the Ultimate Display that
invented by Ivan Sutherland[2].
Figure 2.5: The structure of the CAVE and the sample CAVE application [7].
5
2.3 Definition of immersion and presences in virtual reality
There are many research papers describe the definition of Immersion and Presences
[1, 2, 3, 9, 10, 11, 12]. Most of them refer presence to the subjective sensation of “being
there” experienced. So I can conclude that:
Immersion is a description of the capability of computer displays to deliver a virtual
environment to users.
Presence is a description of user’s subjective psychological response to a virtual
environment.
The figure 2.7 shows that components of immersion are limited to software and
hardware of the system. In another hand, different users can experience different levels of
presence with the same virtual reality system depending on life experience: memory, ability,
past experience, emotional stare, and other factor [2].
Figure 2.6: The PHANTOM Desktop Device and the PHANTOM Omni Device[8].
Presence
Figure 2.7: Human-Virtual Environment interaction loop [9].
sion are limited to display software and hardware
6
Interacting with a virtual environment is another key factor of a VR experience.
Virtual reality system must able capture inputs from users for changing the virtual
environment continuously such as the visual display of a virtual reality system respond to a
user's physical movement and simulate force back to the haptic device when user move the
tool to hit something in virtual environment.
2.4 Virtual reality display
There are 4 main displays in Virtual reality that are the big multiplier for immersion:
visual display, audio display, haptic display, vestibular display [2].
2.4.1 Visual display
Users are hard to feels “being there” if they cannot see things by their eyes. So most of
virtual reality systems are focus on visual display. Visual immersion has many factors [2, 13],
including:
Field of view (FOV): the size of the visual field (in degrees of visual angle) that can be
viewed instantaneously.
Field of regard (FOR): the total size of the visual field (in degrees of visual angle)
surrounding the user.
Pixel per inch (PPI): the measurement of the pixel density (resolution).
Stereoscopy: the display of two slightly offset images to each eye to provide an
additional depth cue.
Frame rate: represents how many images that rendered by system every second.
Refresh rate: represents how many images that reconstructed by visual display in every
second. Example, To display 24 frames per second on a TV with a 120hz refresh rate,
each frame is repeated 5 times every 24th of a second.
To render the realistic environment, the virtual reality system much as able to tracking the
position and rotation of user’s head for rendering images according to user’s eye view.
Figure 2.8: Difference of quality of display between Oculus rift DK1 (185 PPI) and DK2 (386 PPI)
[13].
7
2.4.2 Audio display
Sound is the very simple way to make listeners notice sense of place, something there,
something happening or will happen in virtual environment [15]. The high-quality sound can
help in creating a fascinating experience, even when the quality of the visual presentation is
lacking. 3-D sound has the advantage over vision in that virtual sound sources can be
synthesized to occur anywhere in the 360-degree space around a listener. Audio immersion
has many factors [17, 18, 19], including:
3D localization: the virtual reality system must able to tracking the position and
rotation of the listener; for example, sounds should get louder as the listener moves
nearer to the sound sources and sounds should generate from the same place in virtual
environment when the listener rotate his/her head.
Sound delivery method: Different audio channel will give a different sense of sound
such as 2, 2.1, 5.1 and 7.1 channels, or headphone.
Variety: Loops and repetitions of sound can be detected and perceived as unrealistic.
Creating sound that does not repeat at a rate perceived by the listener will improve the
immersion of the virtual reality system.
Figure 2.9: A taxonomy of spatial manipulation (from the operator’s perspective), or of spatial hearing
(from the listener’s perspective) [16].
8
2.4.3 Haptic display
Haptic display is device that stimulates the sense of touch to user. Now a day, we can
see a lot of haptic device in gaming industry such as a driving wheel joystick that has force
feedback, a vibration gamepad or even vibration mobile phone. There are many information
represented by haptic display include surface properties of object in virtual environment
including texture, temperature, shape, viscosity, friction, deformation, inertia and weight [2].
Moreover, haptic display allow user to feel the difference between hard and soft tissues
which very important in medical surgery applications.
Figure 2.10: Audio rendering pipeline [15].
Figure 2.11: The system architecture of Dental Skills Training Simulator that developed by Dr.
Phattanapon Rhienmora[20]. The system can simulate force back to haptic device when the user
moves the dental headpiece to hit tooth in simulator.
9
2.4.4 Vestibular display
The vestibular perceptual sense maintains balance. Vestibular display allows humans
sense equilibrium, acceleration, and orientation with respect to gravity in virtual environment.
There is a strong relationship between the visual and vestibular systems. Inconsistency
between vestibular and visual systems can lead to nausea and motion sickness [21].
Vestibular display is common in flight and driving simulation systems.
2.4.5 Other display
There are many of human perception that technology still in research such as smell
and taste. Olfactory (smell) display can easily achieve using vaporizer and it may increase
immersion of virtual reality system such as sense of smell to detect specific substances in
virtual environment [23, 24]. Taste display is very hard to create because it is a multi-modal
sensation composed of chemical substance, sound, smell and haptic sensations. Taste
perceived by the tongue can be synthesized from five basic tastes [25].
Basic taste Chemical substance
Sweet Sucrose
Sour Tartaric acid
Salty Sodium chloride
Bitter Quinine sulfate
Umami Sodium glutamate
Figure 2.12: The 360° vestibular display flight simulator from FLY-Motion [22].
Table 2.1: The 5 basic tastes and the chemical substances to generate taste [25].
10
2.5 Present Technology
2.5.1 Head Mounted Display Technology in 2010s for Virtual reality
There are more than one hundred devices of head-mounted displays in market since
1995 [26, 27, 28]. The table below shows the list of head mounted displays in 2010s. Some of
them are still in development phase.
Position Tracking = PT, Head Tracking = HT, Refresh Rate = RR, h= horizontal
Name Screen
Size
Resolution
Per Eye
PPI FOV
(h)
PT 360°
HT
Additional Price
(USD)
Releas
e Date
Wrap 1200DX-VR
[29] N/A 852×480 N/A 35° No Yes
Very light weight (85 grams) 600 2011
Silicon Micro
Display
ST1080[30]
0.74"x2 1920×1080 2976 39° No No
User Liquid crystal on
silicon (LCoS) display 799 Dec
2011
Carl Zeiss
Cinemizer[31] N/A 870×500 N/A 30° No Yes
Support iOS device 729
Nov
2012
Oculus Rift Dk1
[33] 7” 640x800 185 110° No Yes
Very high of FOV 300
Nov
2012
Sony
HMZ-T3W[32]
0.7"x2 1280×720 2,098 45° No Yes
Use Sony’s OLED and
semiconductor silicon drive
technologies
1,499 Oct
2013
Oculus Rift Dk2
[33] 5.7" 960×1080 386 100° Yes Yes
Use external camera for
position tracking 350
Aug
2014
ANTVR KIT [34] N/A 960×1080 N/A 100° Yes Yes
Use Wireless Home Display
Interface (WHDI) 270
Dec
2014
GLYPH [35] None 1280×720 N/A 45° No Yes
Use Micromirror display,
120hz refresh rate 499
Dec
2014
Samsung
Gear VR [36] 5.7" 1280×1440 515 96° No Yes
Run on Samsung Note 4 750+ 2015
castAR [37] N/A 1280×720 N/A 90° Yes Yes
Use Micro projector and
retro-reflective material 345 2015
Game Face Lab [38]
5.5" 1280×1440 534 N/A No Yes Use Nvidia TEGRA K1
Chip. N/A 2015
Totem [39] N/A 960×1080 N/A 90° Yes Yes
2 built-in 1080p cameras for
Augmented Reality 450 2015
Sony Morpheus
[40] 5." 960×1080 N/A 90° Yes Yes
Use external camera for
position tracking N/A 2015
The competition of head mounted displays in 2010s make the prices decrease
dramatically. This make more people interest in virtual reality because they can afford it. One
of the most successful product is Oculus Rift DK2, the Oculus company sold the device more
than one hundred thousand devices in 2014[41]. Now a day, dedicated graphic cards are able
to render graphic for very high resolution and very high detail of the virtual environment in
real time with acceptable frame rate such as NVIDIA GeForce® GTX™ 780.
Table 2.2: The list of head mounted displays in 2010s
11
Moreover, any high-end smart phone can transform into head mounted displays by
attaching the smartphone into a virtual reality viewer such as Google Cardboard[42]. Smart
phones have a 360° tracking feature by using accelerometer and gyroscope to calculate the
rotation angle of the mobile phone. In another hand, smart phone is lacking of position
tracking, so it needs an additional device to track the position of the smart phone.
2.5.2 Interaction Technology
The types of tasks that users might perform in any interactive system are specifically
identified by Foley et al [43] into six fundamental types of interaction tasks as:
Selection: Make a selection from a set of alternatives.
Position: Indicate a position on the display or in the virtual environment.
Orientation: Alter the orientation of an object in the virtual environment. For 2-D,
this might mean rotating an object to be heading north. In 3D, it could mean
controlling the pitch, roll, and yaw of an object in 3D virtual environment.
Path: Generate a path, which is a series of positions and orientations over time.
Quantify: Specify a value to quantify a measure, such as the height of an entity.
Text: Input a text string.
Virtual reality system must install appropriate interaction devices to allow users
complete the specific task with intuitive ways. The most common devices that we use to
interact with the virtual environment are mouse, keyboard and gamepad. In my opinion, these
basic devices may break presence because users will worry about the controller device that
they cannot see when they use head mounted display. Controller device in the real world
must also recreate in the virtual environment to make users believe that they control the same
device in both real and virtual world.
Figure 2.13: Google Cardboard: virtual reality viewer [42].
12
The next level of interaction device is motion capture device, the device that can
detect rotation and position of the user’s body or devices. This kind of device allows users to
manipulate virtual objects presented to them in virtual environment. Precision and accuracy
are most important issue that needs to be handling very well because lacking of precision and
accuracy will break sense of presence. There are many kinds of interaction devices. The table
below shows the list of interaction devices that I reviewed. I give a precision and accuracy of
each devices base on my own experiences and research works [3, 45, 46, 47, 48, 49, 50, 51,
52, 53, 54].
Precision and accuracy = P&A (Fair, Good, Excellent), DOF = degree of freedom
Name Body Part P&A Advantage/Disadvantage Price
(USD)
Releas
e Date
PHANTOM
Omni[8]
Hand Excellent Able to simulate force feedback, Six DOF
positional sensing/ Limited distance. 1,000 2005
CyberGrasp
[55]
Hand and finger Excellent
Able to simulate force feedback, Six DOF
positional sensing /Heavy N/A 2005
Novint
Falcon[56]
Hand Excellent Able to simulate force feedback, Three DOF
positional sensing/ Limited distance. 300
Jun
2006
Kinect[57] Arm, Body, Head
and Leg
Fair Use camera and infrared to track user body.
/Position the sensor between 60 cm and 180 cm. 100
Jun
2011
Razer
Hydra[58]
2 x Hand Excellent
Have 2 controllers for both hands, Six DOF
positional sensing/Wired 140
Jun
2011
Leap
Motion[59]
Hand and finger Good Use camera and infrared to track user hand &
finger/Position the sensor between 5 cm and 25
cm.
100 May
2012
IGS Glove[60] Hand and finger Excellent Using Inertial sensing technology. Three DOF
positional sensing N/A 2013
Sixense
Stem[61]
Arm, Body, Head,
Leg, Hand
Excellent Using electromagnetic motion tracking
technology. Six DOF sensing and wireless 300
Jul
2014
Control
VR[62]
Arm, Body, Head,
Leg, Hand & Finger
N/A Able to simulate force feedback to hand, Using
Inertial sensing technology. 600 2015
Figure 2.14: A visual gamepad in the Architecture Visualization demo created by Viewport[44].
13
PrioVR[63] Arm, Body, Head,
Leg, Hand
N/A Using Inertial sensing technology. Have 2
controllers for both hands. 429 2015
Cyberith
Virtualizer
[64]
Body and Leg N/A Able to track walk, run, couch, sit and jump
actions, Able to simulate vibration feedback to
feet / Very big device.
749 2015
Virtual reality system needs proper software to create the virtual environment. The
main objectives of software are: providing immersive scenery and user interface, analyzing
input data and producing a feed back in real-time. The software that can achieve all
objectives is game engine such as Unity3d, Unreal and Source engine.
2.6 Virtual reality for learning/training system
Virtual reality system has the potential to make a difference, to guild learners to new
knowledge, to motivate and encourage at every level of education. Veronica [65] gives the
following reasons to use virtual reality in education:
Providing new forms and methods of visualization: Virtual reality display allows
learners to observe visual objects that may not able to do like in the real world.
Motivating students: Virtual reality system allow learner to interact and work with
other learners which can encourage them to have interests in subject matter.
Simulating dangerous, expensive situations: Virtual reality system allow leaners to
experience difficult tasks that hard/expensive to do in real world such as electrical
teaching experiments [66].
Learning from expert: Virtual reality system allow expert to share their experience
to their students such as share their actions during doing a virtual surgery [67].
Figure 2.15: Neurosurgery resident testing a brain surgery simulation and screenshot of tumor-
debulking training task [68].
Table 2.3: The list of interaction device in 2010s.
14
2.7 Developing interactive virtual reality with Oculus rift DK2 and Leap motion
controller.
The first step of developing virtual reality system is gathering proper tools and
devices. The machine must powerful enough for rendering display and analyzing data in real
time.
2.7.1 Hardware Specification
Processor: Intel Core I7 2.7 GHz (8 CPUs)
Graphics: NVIDIA GeForce GTX 660 TI
Memory: 8GB DDR3 1600 MHz
Sound Card: DirectX-compatible
Display: Oculus Rift DK2
Position tracking: Oculus Rift DK2 camera
Controller: Leap motion controller
2.7.2 Software Specification
OS: Windows 7
DirectX: Version 11
Game Engine: Unity3D v4.5.3
Display Driver: Oculus Rift SDK v0.4.2
Controller Driver: Leap motion SDK v2.2.023475
The second step is implementing the virtual reality application base on hardware and
software limitation. I developed a simple virtual reality application that allow user to interact
with the model in scene such as rotate horizontally, rotate vertically, push and pull by swipe
his/her hand. The position tracker always keeps track movement and rotation of the user’s
head for updating the visual.
Leap
Motion Position
Tracking
Oculus Rift DK2
Head Mounted Display
Figure 2.16: My interactive virtual reality system.
15
Textbox below is a C# code for handling interaction tasks by using the start and end position
of a swipe gesture that captured by leap motion controller to calculate the direction of swipe
gesture.
void CheckSwipeDirection(Gesture gesture){ SwipeGesture swipeGesture = new SwipeGesture(gesture); float x_start = swipeGesture.StartPosition.x; float y_start = swipeGesture.StartPosition.y; float z_start = swipeGesture.StartPosition.z; float x_end = swipeGesture.Position.x; float y_end = swipeGesture.Position.y; float z_end = swipeGesture.Position.z; float x_dif = Mathf.Abs (x_start - x_end); float y_dif = Mathf.Abs (y_start - y_end); float z_dif = Mathf.Abs (z_start - z_end); bool isHorzizontal = Mathf.Abs (x_start - x_end) > Mathf.Abs (z_start - z_end); bool isHorzizontal_Y = y_dif > Mathf.Max (x_dif,z_dif); if (isHorzizontal_Y) { // Push or pull if (y_start < y_end) { pushObject(); } else { pullObject(); }
}else if (isHorzizontal) { // Horizontal rotation if (x_start < x_end) { rotateObjectToLeft(); } else { rotateObjectToRight(); } } else { // Vertical rotation if (z_start < z_end) { rotateObjectToDown(); }else{ rotateObjectToTop(); } } }
Figure 2.17: Screenshot of my interactive virtual reality: The model viewer.
16
CHAPTER 3
CONCLUSION AND FUTURE WORKS
3.1 Objectives Review
To understand the concept of virtual reality.
The section 2.3 explains the definition of immersion and presence. The core virtual reality is
to make users feel the virtual environment by using displays to derive feedback to them.
To understand the architecture and display devices of virtual reality system.
There are 4 main components virtual reality system: model, computer system, display device
and input devices. The section 2.4 explains the 4 virtual reality display devices: Visual
display, audio display, haptic display, vestibular display.
To observe technologies for developing virtual reality system.
Now a day, there are a lot of virtual reality device in the market. In section 2.5 showed the
lists of virtual reality device in 2010s.
To understand the benefit of using virtual reality in educational.
There are many benefits from using virtual reality in educational such as providing new
forms and methods of visualization, motivating students, learning from expert, and simulating
dangerous/expensive situation.
To understand how to develop virtual reality system with Unity3D, Oculus Rift and Leap
Motion Controller on Windows OS.
The section 2.7 showed the simple interactive virtual reality application by using Oculus Rift
and Leap Motion to interact with the visual object in scene.
3.2 Conclusion
Virtual reality system is very useful technology that could improve educational into the next
level as we can see from many advance virtual reality systems that use for training people
such as virtual neurosurgery simulation and virtual dentist simulation. I think in next 2 year
from now, Virtual reality will be wildly use in many industry: games, movies, educations. We
will see people have their own VR system at home or in any smart phone.
17
3.3 Future works
I plan to continue Dr. Phattanapon Rhienmora’s research, the Dental Skills Training
Simulator. The simulator still lacks of stereo vision which very important to virtual reality
system. Moreover, I plan to upgrade the force feedback simulation of the dental skills
training simulator. It should able to simulate force feedback from soft tissue around mouth
such as: cheek, tongue and gum.
.
18
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