10,953 research outputs found
Implementing flexible rules of interaction for object manipulation in cluttered virtual environments
Object manipulation in cluttered virtual environments (VEs)
brings additional challenges to the design of interaction
algorithms, when compared with open virtual spaces. As the
complexity of the algorithms increases so does the flexibility with
which users can interact, but this is at the expense of much
greater difficulties in implementation for developers. Three rules
that increase the realism and flexibility of interaction are outlined:
collision response, order of control, and physical compatibility.
The implementation of each is described, highlighting the
substantial increase in algorithm complexity that arises. Data are
reported from an experiment in which participants manipulated a
bulky virtual object through parts of a virtual building (the piano
movers’ problem). These data illustrate the benefits to users that
accrue from implementing flexible rules of interaction
A Framework for Designing 3d Virtual Environments
The process of design and development of virtual environments can be supported by tools and frameworks, to save time in technical aspects and focusing on the content. In this paper we present an academic framework which provides several levels of abstraction to ease this work. It includes state-of-the-art components we devised or integrated adopting open-source solutions in order to face specific problems. Its architecture is modular and customizable, the code is open-source.\u
High Performance Algorithms for Counting Collisions and Pairwise Interactions
The problem of counting collisions or interactions is common in areas as
computer graphics and scientific simulations. Since it is a major bottleneck in
applications of these areas, a lot of research has been carried out on such
subject, mainly focused on techniques that allow calculations to be performed
within pruned sets of objects. This paper focuses on how interaction
calculation (such as collisions) within these sets can be done more efficiently
than existing approaches. Two algorithms are proposed: a sequential algorithm
that has linear complexity at the cost of high memory usage; and a parallel
algorithm, mathematically proved to be correct, that manages to use GPU
resources more efficiently than existing approaches. The proposed and existing
algorithms were implemented, and experiments show a speedup of 21.7 for the
sequential algorithm (on small problem size), and 1.12 for the parallel
proposal (large problem size). By improving interaction calculation, this work
contributes to research areas that promote interconnection in the modern world,
such as computer graphics and robotics.Comment: Accepted in ICCS 2019 and published in Springer's LNCS series.
Supplementary content at https://mjsaldanha.com/articles/1-hpc-ssp
The benefits of using a walking interface to navigate virtual environments
Navigation is the most common interactive task performed in three-dimensional virtual environments (VEs), but it is also a task that users often find difficult. We investigated how body-based information about the translational and rotational components of movement helped participants to perform a navigational search task (finding targets hidden inside boxes in a room-sized space). When participants physically walked around the VE while viewing it on a head-mounted display (HMD), they then performed 90% of trials perfectly, comparable to participants who had performed an equivalent task in the real world during a previous study. By contrast, participants performed less than 50% of trials perfectly if they used a tethered HMD (move by physically turning but pressing a button to translate) or a desktop display (no body-based information). This is the most complex navigational task in which a real-world level of performance has been achieved in a VE. Behavioral data indicates that both translational and rotational body-based information are required to accurately update one's position during navigation, and participants who walked tended to avoid obstacles, even though collision detection was not implemented and feedback not provided. A walking interface would bring immediate benefits to a number of VE applications
FlightGoggles: A Modular Framework for Photorealistic Camera, Exteroceptive Sensor, and Dynamics Simulation
FlightGoggles is a photorealistic sensor simulator for perception-driven
robotic vehicles. The key contributions of FlightGoggles are twofold. First,
FlightGoggles provides photorealistic exteroceptive sensor simulation using
graphics assets generated with photogrammetry. Second, it provides the ability
to combine (i) synthetic exteroceptive measurements generated in silico in real
time and (ii) vehicle dynamics and proprioceptive measurements generated in
motio by vehicle(s) in a motion-capture facility. FlightGoggles is capable of
simulating a virtual-reality environment around autonomous vehicle(s). While a
vehicle is in flight in the FlightGoggles virtual reality environment,
exteroceptive sensors are rendered synthetically in real time while all complex
extrinsic dynamics are generated organically through the natural interactions
of the vehicle. The FlightGoggles framework allows for researchers to
accelerate development by circumventing the need to estimate complex and
hard-to-model interactions such as aerodynamics, motor mechanics, battery
electrochemistry, and behavior of other agents. The ability to perform
vehicle-in-the-loop experiments with photorealistic exteroceptive sensor
simulation facilitates novel research directions involving, e.g., fast and
agile autonomous flight in obstacle-rich environments, safe human interaction,
and flexible sensor selection. FlightGoggles has been utilized as the main test
for selecting nine teams that will advance in the AlphaPilot autonomous drone
racing challenge. We survey approaches and results from the top AlphaPilot
teams, which may be of independent interest.Comment: Initial version appeared at IROS 2019. Supplementary material can be
found at https://flightgoggles.mit.edu. Revision includes description of new
FlightGoggles features, such as a photogrammetric model of the MIT Stata
Center, new rendering settings, and a Python AP
Virtual reality training and assessment in laparoscopic rectum surgery
Background: Virtual-reality (VR) based simulation techniques offer an efficient and low cost alternative to conventional surgery training. This article describes a VR training and assessment system in laparoscopic rectum surgery. Methods: To give a realistic visual performance of interaction between membrane tissue and surgery tools, a generalized cylinder based collision detection and a multi-layer mass-spring model are presented. A dynamic assessment model is also designed for hierarchy training evaluation. Results: With this simulator, trainees can operate on the virtual rectum with both visual and haptic sensation feedback simultaneously. The system also offers surgeons instructions in real time when improper manipulation happens. The simulator has been tested and evaluated by ten subjects. Conclusions: This prototype system has been verified by colorectal surgeons through a pilot study. They believe the visual performance and the tactile feedback are realistic. It exhibits the potential to effectively improve the surgical skills of trainee surgeons and significantly shorten their learning curve. © 2014 John Wiley & Sons, Ltd
Symmetric and asymmetric action integration during cooperative object manipulation in virtual environments
Cooperation between multiple users in a virtual environment (VE) can take place at one of three levels. These
are defined as where users can perceive each other (Level 1), individually change the scene (Level 2), or
simultaneously act on and manipulate the same object (Level 3). Despite representing the highest level of
cooperation, multi-user object manipulation has rarely been studied. This paper describes a behavioral
experiment in which the piano movers' problem (maneuvering a large object through a restricted space) was
used to investigate object manipulation by pairs of participants in a VE. Participants' interactions with the object
were integrated together either symmetrically or asymmetrically. The former only allowed the common
component of participants' actions to take place, but the latter used the mean. Symmetric action integration was
superior for sections of the task when both participants had to perform similar actions, but if participants had to
move in different ways (e.g., one maneuvering themselves through a narrow opening while the other traveled
down a wide corridor) then asymmetric integration was superior. With both forms of integration, the extent to
which participants coordinated their actions was poor and this led to a substantial cooperation overhead (the
reduction in performance caused by having to cooperate with another person)
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