Proceedings Virtual Reality Annual International Symposium '95最新文献_第2页

Model based vision as feedback for virtual reality robotics environments 基于模型的视觉反馈在虚拟现实机器人环境中的应用

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512486

E. Natonek, T. Zimmerman, Lorenzo Flueckiger

{"title":"Model based vision as feedback for virtual reality robotics environments","authors":"E. Natonek, T. Zimmerman, Lorenzo Flueckiger","doi":"10.1109/VRAIS.1995.512486","DOIUrl":"https://doi.org/10.1109/VRAIS.1995.512486","url":null,"abstract":"Task definition methods for robotic systems are often difficult to use. The \"on-line\" programming methods are often time expensive or risky for the human operator or the robot itself. On the other hand, \"off-line\" techniques are tedious and complex. In addition operator training is costly and time consuming. In a Virtual Reality Robotics Environment (VRRE), users are not asked to write down complicated functions, but can operate complex robotic systems in an intuitive and cost-effective way. However a VRRE is only effective if all the environment changes and object movements are fed-back to the virtual manipulating system. The paper describes the use of a VRRE for a semi-autonomous robot system comprising an industrial 5-axis robot, its virtual equivalent and a model based vision system used as feed-back. The user is immersed in a 3-D space built out of models of the robot's environment. He directly interacts with the virtual \"components\", defining tasks and dynamically optimizing them. A model based vision system locates objects in the real workspace to update the VRRE through a bi-directional communication link. In order to enhance the capabilities of the VRRE, a reflex-type behavior based on vision has been implemented. By locally (independently of the VRRE) controlling the real robot, the operator is discharged of small environmental changes due to transmission delays. Thus once the tasks have been optimized on the VRRE, they are sent to the real robot and a semi autonomous process ensures their correct execution thanks to a camera directly mounted on the robot's end effector. On the other hand if the environmental changes are too important, the robot stops, re-actualizes the VRRE with the new environmental configuration, and waits for task redesign. Because the operator interacts with the robotic system at a task oriented high level, VRRE systems are easily portable to other robotics environments (mobile robotics and micro assembly).","PeriodicalId":199941,"journal":{"name":"Proceedings Virtual Reality Annual International Symposium '95","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132920584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 20

BrickNet: sharing object behaviors on the Net BrickNet:在网络上共享对象行为

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512475

Gurminder Singh, L. Serra, Willie Png, Audrey Wong, N. Hern

引用次数: 103

Using texture maps to correct for optical distortion in head-mounted displays 使用纹理贴图来纠正头戴式显示器的光学畸变

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512493

B. Watson, L. Hodges

引用次数: 70

Realizing the full potential of virtual reality: human factors issues that could stand in the way 实现虚拟现实的全部潜力:可能阻碍的人为因素问题

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512476

K. Stanney

引用次数: 127

Pen-based force display for precision manipulation in virtual environments 基于笔的力显示，用于虚拟环境中的精确操作

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512499

Pietro Buttolo, B. Hannaford

引用次数: 79

EM-an environment manager for building networked virtual environments em—用于构建网络虚拟环境的环境管理器

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512474

Qunjie Wang, Mark W. Green, Christopher D. Shaw

引用次数: 68

Virtual-reality monitoring 虚拟现实的监控

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512479

H. Hoffman, Keith C. Hullfish, Stacey J. Houston

引用次数: 30

A simple and efficient method for accurate collision detection among deformable polyhedral objects in arbitrary motion 一种简单有效的任意运动可变形多面体物体间精确碰撞检测方法

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512489

Andrew Smith, Y. Kitamura, H. Takemura, F. Kishino

{"title":"A simple and efficient method for accurate collision detection among deformable polyhedral objects in arbitrary motion","authors":"Andrew Smith, Y. Kitamura, H. Takemura, F. Kishino","doi":"10.1109/VRAIS.1995.512489","DOIUrl":"https://doi.org/10.1109/VRAIS.1995.512489","url":null,"abstract":"We propose an accurate collision detection algorithm for use in virtual reality applications. The algorithm works for three-dimensional graphical environments where multiple objects, represented as polyhedra (boundary representation), are undergoing arbitrary motion (translation and rotation). The algorithm can be used directly for both convex and concave objects and objects can be deformed (non-rigid) during motion. The algorithm works efficiently by first reducing the number of face pairs that need to be checked accurately for interference by first localizing possible collision regions using bounding box and spatial subdivision techniques; face pairs that remain after this pruning stage are then accurately checked for interference. The algorithm is efficient, simple to implement, and does not require any memory intensive auxiliary data structures to be precomputed and updated. Since polyhedral shape representation is one of the most common shape representation schemes, this algorithm should be useful to a wide audience. Performance results are given to show the efficiency of the proposed method.","PeriodicalId":199941,"journal":{"name":"Proceedings Virtual Reality Annual International Symposium '95","volume":"134 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116594824","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 75

Visual resolution and spatial performance: the trade-off between resolution and interactivity 视觉分辨率和空间表现:分辨率和交互性之间的权衡

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512481

G. Smets, K. Overbeeke

引用次数: 16

A vision-based head tracker for fish tank virtual reality-VR without head gear 一个基于视觉的头部跟踪器，用于鱼缸虚拟现实- vr无头戴设备

Proceedings Virtual Reality Annual International Symposium '95 Pub Date : 1995-03-11 DOI: 10.1109/VRAIS.1995.512484

J. Rekimoto

引用次数: 61