Situated Displays in Telecommunication

In face to face conversation, numerous cues of attention, eye contact, and gaze direction provide important channels of information. These channels create cues that include turn taking, establish a sense of engagement, and indicate the focus of conversation. However, some subtleties of gaze can be lost in common videoconferencing systems, because the single perspective view of the camera doesn't preserve the spatial characteristics of the face to face situation. In particular, in group conferencing, the `Mona Lisa effect' makes all observers feel that they are looked at when the remote participant looks at the camera. In this thesis, we present designs and evaluations of four novel situated teleconferencing systems, which aim to improve the teleconferencing experience. Firstly, we demonstrate the effectiveness of a spherical video telepresence system in that it allows a single observer at multiple viewpoints to accurately judge where the remote user is placing their gaze. Secondly, we demonstrate the gaze-preserving capability of a cylindrical video telepresence system, but for multiple observers at multiple viewpoints. Thirdly, we demonstrated the further improvement of a random hole autostereoscopic multiview telepresence system in conveying gaze by adding stereoscopic cues. Lastly, we investigate the influence of display type and viewing angle on how people place their trust during avatar-mediated interaction. The results show the spherical avatar telepresence system has the ability to be viewed qualitatively similarly from all angles and demonstrate how trust can be altered depending on how one views the avatar. Together these demonstrations motivate the further study of novel display configurations and suggest parameters for the design of future teleconferencing systems

Rendering and display for multi-viewer tele-immersion

Video teleconferencing systems are widely deployed for business, education and personal use to enable face-to-face communication between people at distant sites. Unfortunately, the two-dimensional video of conventional systems does not correctly convey several important non-verbal communication cues such as eye contact and gaze awareness. Tele-immersion refers to technologies aimed at providing distant users with a more compelling sense of remote presence than conventional video teleconferencing. This dissertation is concerned with the particular challenges of interaction between groups of users at remote sites. The problems of video teleconferencing are exacerbated when groups of people communicate. Ideally, a group tele-immersion system would display views of the remote site at the right size and location, from the correct viewpoint for each local user. However, is is not practical to put a camera in every possible eye location, and it is not clear how to provide each viewer with correct and unique imagery. I introduce rendering techniques and multi-view display designs to support eye contact and gaze awareness between groups of viewers at two distant sites. With a shared 2D display, virtual camera views can improve local spatial cues while preserving scene continuity, by rendering the scene from novel viewpoints that may not correspond to a physical camera. I describe several techniques, including a compact light field, a plane sweeping algorithm, a depth dependent camera model, and video-quality proxies, suitable for producing useful views of a remote scene for a group local viewers. The first novel display provides simultaneous, unique monoscopic views to several users, with fewer user position restrictions than existing autostereoscopic displays. The second is a random hole barrier autostereoscopic display that eliminates the viewing zones and user position requirements of conventional autostereoscopic displays, and provides unique 3D views for multiple users in arbitrary locations

Perception-driven approaches to real-time remote immersive visualization

In remote immersive visualization systems, real-time 3D perception through RGB-D cameras, combined with modern Virtual Reality (VR) interfaces, enhances the user’s sense of presence in a remote scene through 3D reconstruction rendered in a remote immersive visualization system. Particularly, in situations when there is a need to visualize, explore and perform tasks in inaccessible environments, too hazardous or distant. However, a remote visualization system requires the entire pipeline from 3D data acquisition to VR rendering satisfies the speed, throughput, and high visual realism. Mainly when using point-cloud, there is a fundamental quality difference between the acquired data of the physical world and the displayed data because of network latency and throughput limitations that negatively impact the sense of presence and provoke cybersickness. This thesis presents state-of-the-art research to address these problems by taking the human visual system as inspiration, from sensor data acquisition to VR rendering. The human visual system does not have a uniform vision across the field of view; It has the sharpest visual acuity at the center of the field of view. The acuity falls off towards the periphery. The peripheral vision provides lower resolution to guide the eye movements so that the central vision visits all the interesting crucial parts. As a first contribution, the thesis developed remote visualization strategies that utilize the acuity fall-off to facilitate the processing, transmission, buffering, and rendering in VR of 3D reconstructed scenes while simultaneously reducing throughput requirements and latency. As a second contribution, the thesis looked into attentional mechanisms to select and draw user engagement to specific information from the dynamic spatio-temporal environment. It proposed a strategy to analyze the remote scene concerning the 3D structure of the scene, its layout, and the spatial, functional, and semantic relationships between objects in the scene. The strategy primarily focuses on analyzing the scene with models the human visual perception uses. It sets a more significant proportion of computational resources on objects of interest and creates a more realistic visualization. As a supplementary contribution, A new volumetric point-cloud density-based Peak Signal-to-Noise Ratio (PSNR) metric is proposed to evaluate the introduced techniques. An in-depth evaluation of the presented systems, comparative examination of the proposed point cloud metric, user studies, and experiments demonstrated that the methods introduced in this thesis are visually superior while significantly reducing latency and throughput

Enabling Real-Time Shared Environments on Mobile Head-Mounted Displays

Head-Mounted Displays (HMDs) are becoming more prevalent consumer devices, allowing users to experience scenes and environments from a point of view naturally controlled by their movement. However there is limited application of this experiential paradigm to telecommunications -- that is, where a HMD user can 'call' a mobile phone user and begin to look around in their environment. In this thesis we present a telepresence system for connecting mobile phone users with people wearing HMDs, allowing the HMD user to experience the environment of the mobile user in real-time. We developed an Android application that supports generating and transmitting high quality spherical panorama based environments in real-time, and a companion application for HMDs to view those environments live. This thesis focusses on the technical challenges involved with creating panoramic environments of sufficient quality to be suitable for viewing inside a HMD, given the constraints that arise from using mobile phones. We present computer vision techniques optimised for these constrained conditions, justifying the trade-offs made between speed and quality. We conclude by comparing our solution to conceptually similar past research along the metrics of computation speed and output quality

Exploring Robot Teleoperation in Virtual Reality

This thesis presents research on VR-based robot teleoperation with a focus on remote environment visualisation in virtual reality, the effects of remote environment reconstruction scale in virtual reality on the human-operator's ability to control the robot and human-operator's visual attention patterns when teleoperating a robot from virtual reality. A VR-based robot teleoperation framework was developed, it is compatible with various robotic systems and cameras, allowing for teleoperation and supervised control with any ROS-compatible robot and visualisation of the environment through any ROS-compatible RGB and RGBD cameras. The framework includes mapping, segmentation, tactile exploration, and non-physically demanding VR interface navigation and controls through any Unity-compatible VR headset and controllers or haptic devices. Point clouds are a common way to visualise remote environments in 3D, but they often have distortions and occlusions, making it difficult to accurately represent objects' textures. This can lead to poor decision-making during teleoperation if objects are inaccurately represented in the VR reconstruction. A study using an end-effector-mounted RGBD camera with OctoMap mapping of the remote environment was conducted to explore the remote environment with fewer point cloud distortions and occlusions while using a relatively small bandwidth. Additionally, a tactile exploration study proposed a novel method for visually presenting information about objects' materials in the VR interface, to improve the operator's decision-making and address the challenges of point cloud visualisation. Two studies have been conducted to understand the effect of virtual world dynamic scaling on teleoperation flow. The first study investigated the use of rate mode control with constant and variable mapping of the operator's joystick position to the speed (rate) of the robot's end-effector, depending on the virtual world scale. The results showed that variable mapping allowed participants to teleoperate the robot more effectively but at the cost of increased perceived workload. The second study compared how operators used a virtual world scale in supervised control, comparing the virtual world scale of participants at the beginning and end of a 3-day experiment. The results showed that as operators got better at the task they as a group used a different virtual world scale, and participants' prior video gaming experience also affected the virtual world scale chosen by operators. Similarly, the human-operator's visual attention study has investigated how their visual attention changes as they become better at teleoperating a robot using the framework. The results revealed the most important objects in the VR reconstructed remote environment as indicated by operators' visual attention patterns as well as their visual priorities shifts as they got better at teleoperating the robot. The study also demonstrated that operators’ prior video gaming experience affects their ability to teleoperate the robot and their visual attention behaviours

Best of Both Worlds: Merging 360˚ Image Capture with 3D Reconstructed Environments for Improved Immersion in Virtual Reality

With the recent proliferation of high-quality 360° photos and video, consumers of virtual reality (VR) media have come to expect photorealistic immersive content. Most 360° VR content, however, is captured with monoscopic camera rigs and inherently fails to provide users with a sense of 3D depth and 6 degree-of-freedom (DOF) mobility. As a result, the medium is significantly limited in its immersive quality. This thesis aims to demonstrate how content creators can further bridge the gap between 360° content and fully immersive real-world VR simulations. We attempt to design a method that combines monoscopic 360° image capture with 3D reconstruction -- taking advantage of the best qualities of both technologies while only using consumer-grade equipment. By mapping the texture from panoramic 360° images to the 3D geometry of a scene, this system significantly improves the photo-realism of 3D reconstructed spaces at specific points of interest in a virtual environment. The technical hurdles faced during the course of this research work, and areas of further work needed to perfect the system, are discussed in detail. Once perfected, a user of the system should be able to simultaneously appreciate visual detail in 360-degrees while experiencing full mobility, i.e., to move around within the immersed scene.Bachelor of Art

Impact of Imaging and Distance Perception in VR Immersive Visual Experience

Virtual reality (VR) headsets have evolved to include unprecedented viewing quality. Meanwhile, they have become lightweight, wireless, and low-cost, which has opened to new applications and a much wider audience. VR headsets can now provide users with greater understanding of events and accuracy of observation, making decision-making faster and more effective. However, the spread of immersive technologies has shown a slow take-up, with the adoption of virtual reality limited to a few applications, typically related to entertainment. This reluctance appears to be due to the often-necessary change of operating paradigm and some scepticism towards the "VR advantage". The need therefore arises to evaluate the contribution that a VR system can make to user performance, for example to monitoring and decision-making. This will help system designers understand when immersive technologies can be proposed to replace or complement standard display systems such as a desktop monitor. In parallel to the VR headsets evolution there has been that of 360 cameras, which are now capable to instantly acquire photographs and videos in stereoscopic 3D (S3D) modality, with very high resolutions. 360° images are innately suited to VR headsets, where the captured view can be observed and explored through the natural rotation of the head. Acquired views can even be experienced and navigated from the inside as they are captured. The combination of omnidirectional images and VR headsets has opened to a new way of creating immersive visual representations. We call it: photo-based VR. This represents a new methodology that combines traditional model-based rendering with high-quality omnidirectional texture-mapping. Photo-based VR is particularly suitable for applications related to remote visits and realistic scene reconstruction, useful for monitoring and surveillance systems, control panels and operator training. The presented PhD study investigates the potential of photo-based VR representations. It starts by evaluating the role of immersion and user’s performance in today's graphical visual experience, to then use it as a reference to develop and evaluate new photo-based VR solutions. With the current literature on photo-based VR experience and associated user performance being very limited, this study builds new knowledge from the proposed assessments. We conduct five user studies on a few representative applications examining how visual representations can be affected by system factors (camera and display related) and how it can influence human factors (such as realism, presence, and emotions). Particular attention is paid to realistic depth perception, to support which we develop target solutions for photo-based VR. They are intended to provide users with a correct perception of space dimension and objects size. We call it: true-dimensional visualization. The presented work contributes to unexplored fields including photo-based VR and true-dimensional visualization, offering immersive system designers a thorough comprehension of the benefits, potential, and type of applications in which these new methods can make the difference. This thesis manuscript and its findings have been partly presented in scientific publications. In particular, five conference papers on Springer and the IEEE symposia, [1], [2], [3], [4], [5], and one journal article in an IEEE periodical [6], have been published

Methods for Light Field Display Profiling and Scalable Super-Multiview Video Coding

Light field 3D displays reproduce the light field of real or synthetic scenes, as observed by multiple viewers, without the necessity of wearing 3D glasses. Reproducing light fields is a technically challenging task in terms of optical setup, content creation, distributed rendering, among others; however, the impressive visual quality of hologramlike scenes, in full color, with real-time frame rates, and over a very wide field of view justifies the complexity involved. Seeing objects popping far out from the screen plane without glasses impresses even those viewers who have experienced other 3D displays before.Content for these displays can either be synthetic or real. The creation of synthetic (rendered) content is relatively well understood and used in practice. Depending on the technique used, rendering has its own complexities, quite similar to the complexity of rendering techniques for 2D displays. While rendering can be used in many use-cases, the holy grail of all 3D display technologies is to become the future 3DTVs, ending up in each living room and showing realistic 3D content without glasses. Capturing, transmitting, and rendering live scenes as light fields is extremely challenging, and it is necessary if we are about to experience light field 3D television showing real people and natural scenes, or realistic 3D video conferencing with real eye-contact.In order to provide the required realism, light field displays aim to provide a wide field of view (up to 180°), while reproducing up to ~80 MPixels nowadays. Building gigapixel light field displays is realistic in the next few years. Likewise, capturing live light fields involves using many synchronized cameras that cover the same display wide field of view and provide the same high pixel count. Therefore, light field capture and content creation has to be well optimized with respect to the targeted display technologies. Two major challenges in this process are addressed in this dissertation.The first challenge is how to characterize the display in terms of its capabilities to create light fields, that is how to profile the display in question. In clearer terms this boils down to finding the equivalent spatial resolution, which is similar to the screen resolution of 2D displays, and angular resolution, which describes the smallest angle, the color of which the display can control individually. Light field is formalized as 4D approximation of the plenoptic function in terms of geometrical optics through spatiallylocalized and angularly-directed light rays in the so-called ray space. Plenoptic Sampling Theory provides the required conditions to sample and reconstruct light fields. Subsequently, light field displays can be characterized in the Fourier domain by the effective display bandwidth they support. In the thesis, a methodology for displayspecific light field analysis is proposed. It regards the display as a signal processing channel and analyses it as such in spectral domain. As a result, one is able to derive the display throughput (i.e. the display bandwidth) and, subsequently, the optimal camera configuration to efficiently capture and filter light fields before displaying them.While the geometrical topology of optical light sources in projection-based light field displays can be used to theoretically derive display bandwidth, and its spatial and angular resolution, in many cases this topology is not available to the user. Furthermore, there are many implementation details which cause the display to deviate from its theoretical model. In such cases, profiling light field displays in terms of spatial and angular resolution has to be done by measurements. Measurement methods that involve the display showing specific test patterns, which are then captured by a single static or moving camera, are proposed in the thesis. Determining the effective spatial and angular resolution of a light field display is then based on an automated analysis of the captured images, as they are reproduced by the display, in the frequency domain. The analysis reveals the empirical limits of the display in terms of pass-band both in the spatial and angular dimension. Furthermore, the spatial resolution measurements are validated by subjective tests confirming that the results are in line with the smallest features human observers can perceive on the same display. The resolution values obtained can be used to design the optimal capture setup for the display in question.The second challenge is related with the massive number of views and pixels captured that have to be transmitted to the display. It clearly requires effective and efficient compression techniques to fit in the bandwidth available, as an uncompressed representation of such a super-multiview video could easily consume ~20 gigabits per second with today’s displays. Due to the high number of light rays to be captured, transmitted and rendered, distributed systems are necessary for both capturing and rendering the light field. During the first attempts to implement real-time light field capturing, transmission and rendering using a brute force approach, limitations became apparent. Still, due to the best possible image quality achievable with dense multi-camera light field capturing and light ray interpolation, this approach was chosen as the basis of further work, despite the massive amount of bandwidth needed. Decompression of all camera images in all rendering nodes, however, is prohibitively time consuming and is not scalable. After analyzing the light field interpolation process and the data-access patterns typical in a distributed light field rendering system, an approach to reduce the amount of data required in the rendering nodes has been proposed. This approach, on the other hand, requires rectangular parts (typically vertical bars in case of a Horizontal Parallax Only light field display) of the captured images to be available in the rendering nodes, which might be exploited to reduce the time spent with decompression of video streams. However, partial decoding is not readily supported by common image / video codecs. In the thesis, approaches aimed at achieving partial decoding are proposed for H.264, HEVC, JPEG and JPEG2000 and the results are compared.The results of the thesis on display profiling facilitate the design of optimal camera setups for capturing scenes to be reproduced on 3D light field displays. The developed super-multiview content encoding also facilitates light field rendering in real-time. This makes live light field transmission and real-time teleconferencing possible in a scalable way, using any number of cameras, and at the spatial and angular resolution the display actually needs for achieving a compelling visual experience

A 360 VR and Wi-Fi Tracking Based Autonomous Telepresence Robot for Virtual Tour

This study proposes a novel mobile robot teleoperation interface that demonstrates the applicability of a robot-aided remote telepresence system with a virtual reality (VR) device to a virtual tour scenario. To improve realism and provide an intuitive replica of the remote environment for the user interface, the implemented system automatically moves a mobile robot (viewpoint) while displaying a 360-degree live video streamed from the robot to a VR device (Oculus Rift). Upon the user choosing a destination location from a given set of options, the robot generates a route based on a shortest path graph and travels along that the route using a wireless signal tracking method that depends on measuring the direction of arrival (DOA) of radio signals. This paper presents an overview of the system and architecture, and discusses its implementation aspects. Experimental results show that the proposed system is able to move to the destination stably using the signal tracking method, and that at the same time, the user can remotely control the robot through the VR interface

Removing spatial boundaries in immersive mobile communications

Despite a worldwide trend towards mobile computing, current telepresence experiences focus on stationary desktop computers, limiting how, when, and where researched solutions can be used. In this thesis I demonstrate that mobile phones are a capable platform for future research, showing the effectiveness of the communications possible through their inherent portability and ubiquity. I first describe a framework upon which future systems can be built, which allows two distant users to explore one of several panoramic representations of the local environment by reorienting their device. User experiments demonstrate this framework's ability to induce a sense of presence within the space and between users, and show that capturing this environment live provides no significant benefits over constructing it incrementally. This discovery enables a second application that allows users to explore a three-dimensional representation of their environment. Each user's position is shown as an avatar, with live facial capture to facilitate natural communication. Either may also see the full environment by occupying the same virtual space. This application is also evaluated and shown to provide efficient communications to its users, providing a novel untethered experience not possible on stationary hardware despite the inherent lack of computational ability available on mobile devices