what is virtual reality? “a high-end user interface that involves real-time simulation and...
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What is Virtual Reality?
“A high-end user interface that involves real-time simulation and interaction through multiple sensorial channels.” (vision, sound, touch, smell, taste)
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ImmersiveComputer generated images will replace the real world viewThe generated images will react to the position and orientation of the user’s head
Non-ImmersiveUsers are able to view the virtual world however, they are still aware of the real worldi.e. viewing the VE through a monitor
HybridPermits the user to view the real world with virtual images superimposed over this viewAlso known as augmented reality
Type of VR systems
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VR is an integrated trio of “Immersion”, “Interaction”
and “Imagination”
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http://www.physorg.com/news/2011-04-virtual-reality-scent-human.html
Let watch some images / clips
http://www.youtube.com/watch?v=ZKw_Mp5YkaE
http://www.youtube.com/watch?v=he5mZX1sRXk&feature=related
http://www.joelfletcher.com/3d-nature.html
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Input Devices:
Trackers, Navigation and Gesture Interfaces
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3-D System of coordinates of a VR object
Virtual objects have 6 degreesof freedom (D.O.Fs):-three translations;-three rotations.
Input Devices
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Trackers measure the motion of “objects” such as user’s wrist or his head vs. a fixed system of coordinates.
Technologies to perform this task:Mechanical trackers (special cases);Magnetic trackers (prevalent);Ultrasonic trackers (less used);Inertial/ultrasonic trackers (new).Vision-based trackers (new)
Input Devices
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Input Devices
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Tracker characteristics:Tracker characteristics:
Measurement accuracy
Measurement rate – Readings/sec;Sensing latency;Sensor noise and drift;Measurement repeatability;Tethered or wireless;Work envelope; Sensing degradation .
Input Devices
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Tracker characteristics:Tracker characteristics:
Real object position
Accuracy
Resolution
Tracker position measurements
Input Devices
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Tracker characteristics:Tracker characteristics:
Real object fixedposition
Signal noise
Time
Tracker data
Input Devices
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Tracker characteristics:Tracker characteristics:
Real object fixedposition
Sensor drift
Time
Tracker data
Input Devices
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Tracker characteristics:Tracker characteristics:
Real object position
Sensor latency
Time
Tracker data
Input Devices
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Mechanical TrackersMechanical Trackers
Definition: A mechanical tracker consists of a serial or parallel kinematic structure composed of links interconnectedby sensorized joints.
Input Devices
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Mechanical TrackersMechanical TrackersPros Use sensors imbedded in exoskeletons to measure position; Have extremely low latencies; Are immune to interference from magnetic fields and large metal objects; Cons But limit the user’s freedom of motion; Can be heavy is worn on the body
Input Devices
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Exoskeletonstructure Interface
Withcomputer
Input Devices
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Magnetic TrackersMagnetic Trackers
Definition: A magnetic tracker is a non-contact position measurement device that uses a magnetic field producedby a stationary TRANSMITTER to determine the real-time position of a moving RECEIVER element
Input Devices
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Magnetic TrackersMagnetic Trackers
Use low-frequency magnetic fields to measure position;The receiver is attached to the tracked object and has three perpendicular antennas;Distance is inferred from the voltages induced in the antennas .. Need calibration
Input Devices
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Polhemus Long Ranger tracking errors (Rutgers)
Metal in lab double ceiling
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Ultrasonic TrackersUltrasonic Trackers
Definition: A non-contact position measurement device that uses an ultrasonic signal produced by a stationary transmitter to determine the real-time position/orientation of a moving receiver.
Input Devices
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Ultrasonic TrackersUltrasonic Trackers
Use low-frequency ultrasound to measure position;Sound produced by a fixed triangular source (speakers);The receiver is triangular and attached to the tracked object and has three microphones;Distance is inferred from the sound time of flight;Sensitive to air temperature and other noise sources;Requires “direct line of sight”;Slower than magnetic trackers (max 50 updates/sec).
Input Devices
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Ultrasonic tracker (Logitech)
Input Devices
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Optical TrackersOptical Trackers
Definition: A non-contact position measurement device that uses optical sensing to determine the real-time position/orientation of an object
Input Devices
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Optical trackers: a) outside-looking-in; b) inside-looking-out
Input Devices
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Outside-looking in: Vicon MXOutside-looking in: Vicon MXUses 4 Mpixel cameras with own 120 LED array (infrared, or visible red). Accuracy 0.02 of a pixel, Camera has real-time onboard image processing (masking and thresholding) Resolution 2352x1728 @ 160 fps 8 cameras are connected to a MX net unit which then communicates with the PC
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Input Devices
Outside-looking in: Vicon MXOutside-looking in: Vicon MX
MX Link connects several MX Net units for more cameras To interface with other devices like a force plate, sensing glove or eye tracker – use a MX control unit.User wears reflective markers (small spheres).
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Inside-out optical tracker advantagesInside-out optical tracker advantages
The best accuracy is close to the work envelope. Very large tracking surface and resistance to visual occlusions (line of sight).
Input Devices
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Hybrid Ultrasonic/Inertial TrackersHybrid Ultrasonic/Inertial Trackers
No interference from metallic objects;No interference from magnetic fields;Large-volume tracking;“Source-less” orientation tracking;Full-room tracking;A newer technology.
Input Devices
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InterSense Stereo Glasses tracker (courtesy of Intersense Co.)
I-CubeAccel./gyro
Ultrasonic emitter
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InterSense Stereo stylus tracker (courtesy of Intersense Co.)
Accelerometer
Ultrasonicemitter
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Navigation and Gesture Input DevicesNavigation and Gesture Input Devices
Navigation interfaces allow relative
position control of virtual objects
(including a virtual camera); Gesture interfaces allow dextrous
control of virtual objects and interaction
through gesture recognition.
Input Devices
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Navigation Input DevicesNavigation Input Devices
Are the Cubic Mouse, the trackball and the
3-D probe; Perform relative position/velocity
control of virtual objects; Allow “fly-by” application by controlling
a virtual camera.
Input Devices
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The Cubic Mouse
Input Devices
VC 2.2 book CD
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Trackballs
Input Devices
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The Microscribe (Immersion Co.)
Input Devices
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Gesture Input DevicesGesture Input Devices Are sensing gloves such as:
- Fakespace “Pinch Glove”
- 5DT Data Glove;
- The DidjiGlove
- Immersion “CyberGlove”Need calibration for user’s hand.
Input Devices
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Finger Degrees of Freedom
Input Devices
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Hand work envelope vs. interface type
Input Devices
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The Pinch Glove (Fakespace Co.) - no joint measures, but contact detection
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The glove interface: a) five-sensor version; b) newer design
A)
One optical fiber/finger
Roll/pitch sensing 5DT Data Glove Ultra
5DT Data Glove
100 datasets/sec, 12 bit A/D flexion resolution, wireless version transmits data at 30 m, needs calibration
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The glove interface: a) 14-sensor version; b) wireless kit
Two sensors/finger plus abduction sensors
5DT Data Glove - continued
Two gloves use one Bluetooth 2.4 GHz transmitter on the user’s belt
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5DT Data GloveInput Devices