D. Krupke, Lasse Einig, E. Langbehn, Jianwei Zhang, Frank Steinicke
{"title":"Immersive remote grasping: realtime gripper control by a heterogenous robot control system","authors":"D. Krupke, Lasse Einig, E. Langbehn, Jianwei Zhang, Frank Steinicke","doi":"10.1145/2993369.2996345","DOIUrl":"https://doi.org/10.1145/2993369.2996345","url":null,"abstract":"Current developments in the field of user interface (UI) technologies as well as robotic systems provide enormous potential to reshape the future of human-robot interaction (HRI) and collaboration. However, the design of reliable, intuitive and comfortable user interfaces is a challenging task. In this paper, we focus on one important aspect of such interfaces, i.e., teleoperation. We explain how to setup a heterogeneous, extendible and immersive system for controlling a distant robotic system via the network. Therefore, we exploit current technologies from the area of virtual reality (VR) and the Unity3D game engine in order to provide natural user interfaces for teleoperation. Regarding robot control, we use the well-known robot operating system (ROS) and apply its freely available modular components. The contribution of this work lies in the implementation of a flexible immersive grasping control system using a network layer (ROSbridge) between Unity3D and ROS for arbitary robotic hardware.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117056386","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}
{"title":"Localized color correction for optical see-through displays via weighted linear regression","authors":"Jae-Woo Kim, Kang-Kyu Lee, Je-Ho Ryu, Jong-Ok Kim","doi":"10.1145/2993369.2993406","DOIUrl":"https://doi.org/10.1145/2993369.2993406","url":null,"abstract":"Visual consistency in augmented reality displays requires truthful color reproduction of virtual images. However, the color distortion of Optical See-Through Displays hinders truthful color reproduction. We propose a color correction method for Optical See-Through Displays with three contributions. First, we handle non-linearity of color distortion by localized regression. Second, we model the color distortion in CIE XYZ domain, a device-independent representation of color, based on color measurements. This supports the locally linear modeling of color distortion. Finally, we introduce Hue-constrained gamut mapping for color correction. Experimental results validate the three contributions by showing critically meaningful performance gain.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"88 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131684169","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}
D. Aschenbrenner, Marc Erich Latoschik, K. Schilling
{"title":"Industrial maintenance with augmented reality: two case studies","authors":"D. Aschenbrenner, Marc Erich Latoschik, K. Schilling","doi":"10.1145/2993369.2996305","DOIUrl":"https://doi.org/10.1145/2993369.2996305","url":null,"abstract":"Remote maintenance of industrial manipulators often is performed via telephone support. Recent approaches in the context of the 'Industry 4.0' consider internet technologies and Augmented Reality (AR) to enhance situation awareness between external experts and local service technicians. We present two AR-based case studies: First, a mobile AR architecture based on optical see through glasses is used for an on-site local repair task. Second, a remote architecture based on a portable tablet PC and a high precision tracking system is used to realize an off-site expert access. The to-be-serviced machine is visualized inside of a large area similar to a machinery hall and can be inspected by the experts walking around this virtual plant using the tablet and perspectively correct rendering to understand the production process and the operation context. Both methods have been evaluated in first user studies.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131010369","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}
Jan-Philipp Stauffert, Florian Niebling, Marc Erich Latoschik
{"title":"Towards comparable evaluation methods and measures for timing behavior of virtual reality systems","authors":"Jan-Philipp Stauffert, Florian Niebling, Marc Erich Latoschik","doi":"10.1145/2993369.2993402","DOIUrl":"https://doi.org/10.1145/2993369.2993402","url":null,"abstract":"A low latency is a fundamental timeliness requirement to reduce the potential risks of cyber sickness and to increase effectiveness, efficiency, and user experience of Virtual Reality Systems. The effects of uniform latency degradation based on mean or worst-case values are well researched. In contrast, the effects of latency jitter, the distribution pattern of latency changes over time has largely been ignored so far although today's consumer VR systems are extremely vulnerable in this respect. We investigate the applicability of the Walsh, generalized ESD, and the modified z-score test for the detection of outliers as one central latency distribution aspect. The tests are applied to well defined test cases mimicking typical timing behavior expected from concurrent architectures of today. We introduce accompanying graphical visualization methods to inspect, analyze and communicate the latency behavior of VR systems beyond simple mean or worst-case values. As a result, we propose a stacked modified z-score test for more detailed analysis.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124264096","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}
Luís Fernando Maia Silva, Windson Viana, Fernando A. M. Trinta
{"title":"A real-time x-ray mobile application using augmented reality and google street view","authors":"Luís Fernando Maia Silva, Windson Viana, Fernando A. M. Trinta","doi":"10.1145/2993369.2993370","DOIUrl":"https://doi.org/10.1145/2993369.2993370","url":null,"abstract":"X-ray view can be defined as the ability one has to see through real surfaces. Although this skill is often associated with superheroes and medical examination, there are several researches conducted to employ X-ray view in numerous applications. However, the generation of X-ray visualization includes numerous challenges regarding occlusion, realistic appearance, and depth perception. In this paper, we present a mobile application that uses Augmented Reality and Google Street View to allow users experience real-time X-ray vision. The proposed application was designed to enhance previous Augmented Reality X-ray systems, by introducing a silhouette computation method to provide visual context from the occluder and a perspective estimation system that improves the projection of occluded images into the real scene. Additionally, we implemented two usability studies to assess qualitative aspects of both silhouettes and perspective estimation to generate better X-ray effects. Results indicate good acceptance of the novel X-ray visualization method and a great usability score on the SUS scale for the mobile application.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129088370","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}
T. Waltemate, I. Senna, Felix Hülsmann, M. Rohde, S. Kopp, M. Ernst, M. Botsch
{"title":"The impact of latency on perceptual judgments and motor performance in closed-loop interaction in virtual reality","authors":"T. Waltemate, I. Senna, Felix Hülsmann, M. Rohde, S. Kopp, M. Ernst, M. Botsch","doi":"10.1145/2993369.2993381","DOIUrl":"https://doi.org/10.1145/2993369.2993381","url":null,"abstract":"Latency between a user's movement and visual feedback is inevitable in every Virtual Reality application, as signal transmission and processing take time. Unfortunately, a high end-to-end latency impairs perception and motor performance. While it is possible to reduce feedback delay to tens of milliseconds, these delays will never completely vanish. Currently, there is a gap in literature regarding the impact of feedback delays on perception and motor performance as well as on their interplay in virtual environments employing full-body avatars. With the present study at hand, we address this gap by performing a systematic investigation of different levels of delay across a variety of perceptual and motor tasks during full-body action inside a Cave Automatic Virtual Environment. We presented participants with their virtual mirror image, which responded to their actions with feedback delays ranging from 45 to 350 ms. We measured the impact of these delays on motor performance, sense of agency, sense of body ownership and simultaneity perception by means of psychophysical procedures. Furthermore, we looked at interaction effects between these aspects to identify possible dependencies. The results show that motor performance and simultaneity perception are affected by latencies above 75 ms. Although sense of agency and body ownership only decline at a latency higher than 125 ms, and deteriorate for a latency greater than 300 ms, they do not break down completely even at the highest tested delay. Interestingly, participants perceptually infer the presence of delays more from their motor error in the task than from the actual level of delay. Whether or not participants notice a delay in a virtual environment might therefore depend on the motor task and their performance rather than on the actual delay.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121133200","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}
{"title":"A novel magnetic levitation haptic device for augmentation of tissue stiffness perception","authors":"Qianqian Tong, Zhiyong Yuan, Mianlun Zheng, Weixu Zhu, Guian Zhang, Xiangyun Liao","doi":"10.1145/2993369.2993377","DOIUrl":"https://doi.org/10.1145/2993369.2993377","url":null,"abstract":"In medical training especially in palpation surgery, it is important for surgeons to perceive tissue stiffness. We design a novel magnetic levitation haptic device based on electromagnetic principles to enhance the perception of tissue stiffness in a virtual environment. The user can directly sense virtual tissues by moving a magnetic stylus in the magnetic field generated by the coil array of our device. To fully use the effective magnetic field, we devise an adjustable coil array and provide a reasonable explanation for such design. Moreover, we design a control interface circuit and present a self-adaptive fuzzy proportion integration differentiation (PID) algorithm to precisely control the coil current. The quantitative experiment shows that the experimental and simulation data of our device are consistent and the proposed control algorithm contributes to increasing the accuracy of tissue stiffness perception. In qualitative experiment, we recruit 22 participants to distinguish tissues of different stiffness and detect tissue abnormality. The experimental results demonstrate that our magnetic levitation haptic device can provide accurate perception of tissue stiffness.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127263616","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}
Rebekka S. Schubert, Mathias Müller, S. Pannasch, J. Helmert
{"title":"Depth information from binocular disparity and familiar size is combined when reaching towards virtual objects","authors":"Rebekka S. Schubert, Mathias Müller, S. Pannasch, J. Helmert","doi":"10.1145/2993369.2993408","DOIUrl":"https://doi.org/10.1145/2993369.2993408","url":null,"abstract":"Reaching movements towards stereoscopically presented virtual objects have been reported to be imprecise. This might be a problem for touch interaction with virtual environments. Estimating the distance to an object in personal space relies on binocular disparity and other depth cues but previous work on the influence of familiar size for reaching and grasping has produced conflicting results. We presented a virtual tennis ball and manipulated binocular disparity as well as the size of the tennis ball. The results suggest that depth information from binocular disparity and from familiar size is combined for reaching movements towards virtual objects. However, subjects differed in the weight they assigned to each depth cue.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132363493","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}
Sascha Gebhardt, Till Petersen-Krau, S. Pick, Dominik Rausch, Christian Nowke, T. Knott, Patric Schmitz, Daniel Zielasko, B. Hentschel, T. Kuhlen
{"title":"Vista widgets: a framework for designing 3D user interfaces from reusable interaction building blocks","authors":"Sascha Gebhardt, Till Petersen-Krau, S. Pick, Dominik Rausch, Christian Nowke, T. Knott, Patric Schmitz, Daniel Zielasko, B. Hentschel, T. Kuhlen","doi":"10.1145/2993369.2993382","DOIUrl":"https://doi.org/10.1145/2993369.2993382","url":null,"abstract":"Virtual Reality (VR) has been an active field of research for several decades, with 3D interaction and 3D User Interfaces (UIs) as important sub-disciplines. However, the development of 3D interaction techniques and in particular combining several of them to construct complex and usable 3D UIs remains challenging, especially in a VR context. In addition, there is currently only limited reusable software for implementing such techniques in comparison to traditional 2D UIs. To overcome this issue, we present ViSTA Widgets, a software framework for creating 3D UIs for immersive virtual environments. It extends the ViSTA VR framework by providing functionality to create multi-device, multi-focus-strategy interaction building blocks and means to easily combine them into complex 3D UIs. This is realized by introducing a device abstraction layer along sophisticated focus management and functionality to create novel 3D interaction techniques and 3D widgets. We present the framework and illustrate its effectiveness with code and application examples accompanied by performance evaluations.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126101121","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}
S. Wijewickrema, Yun Zhou, J. Bailey, G. Kennedy, S. O'Leary
{"title":"Provision of automated step-by-step procedural guidance in virtual reality surgery simulation","authors":"S. Wijewickrema, Yun Zhou, J. Bailey, G. Kennedy, S. O'Leary","doi":"10.1145/2993369.2993397","DOIUrl":"https://doi.org/10.1145/2993369.2993397","url":null,"abstract":"One of the roadblocks to the wide-spread use of virtual reality simulation as a surgical training platform is the need for expert supervision during training to ensure proper skill acquisition. To fully utilize the capacity of virtual reality in surgical training, it is imperative that the guidance process is automated. In this paper, we discuss a method of providing one aspect of performance guidance: advice on the steps of a surgery or procedural guidance. We manually segment the surgical trajectory of an expert surgeon into steps and present them one at a time to guide trainees through a surgical procedure. We show, using a randomized controlled trial, that this form of guidance is effective in moving trainee behavior towards an expert ideal. To support practice variation and different surgical styles adopted by experts, separate guidance templates have to be generated. To enable this, we introduce a method of automatically segmenting a surgical trajectory into steps. We propose a pre-processing step that uses domain knowledge specific to our application to reduce the solution space. We show how this can be incorporated into existing trajectory segmentation methods, as well as a greedy approach that we propose. We compare this segmentation method to existing techniques and show that it is accurate and efficient.","PeriodicalId":396801,"journal":{"name":"Proceedings of the 22nd ACM Conference on Virtual Reality Software and Technology","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127570973","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}