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"title": "Effects of Locomotion Style and Body Visibility of a Telepresence Avatar",
"normalizedTitle": "Effects of Locomotion Style and Body Visibility of a Telepresence Avatar",
"abstract": "Telepresence avatars enable users in different environments to interact with each other. In order to increase the effectiveness of these interactions, however, the movements of avatars must be adjusted accordingly to account for differences between user environments. For instance, if a user moves from one point to another in one environment, the avatar’s locomotion speed must be adjusted to move to the corresponding target point in another environment at the same time. Several locomotion styles can be used to achieve this speed change. This paper investigates how different avatar locomotion styles (speed, stride, and glide), body visibility levels (full body and head-to-knee), and views (front views and side views) influence human perceptions of the naturalness of motion, similarity to the user’s locomotion, and the degree of preserving the user’s intention. Our results indicate that 1) speed and stride styles are perceived as more natural than the glide style, while the glide style is more intention-preserving than the others, 2) a greater locomotion speed of the avatar is perceived as more natural, similar, and intention-preserving than slower motion, 3) the perception of naturalness has the greatest impact on people’s preferences for locomotion styles, and that 4) head-to-knee body visibility may enhance the perception of naturalness for the glide style.",
"abstracts": [
{
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"content": "Telepresence avatars enable users in different environments to interact with each other. In order to increase the effectiveness of these interactions, however, the movements of avatars must be adjusted accordingly to account for differences between user environments. For instance, if a user moves from one point to another in one environment, the avatar’s locomotion speed must be adjusted to move to the corresponding target point in another environment at the same time. Several locomotion styles can be used to achieve this speed change. This paper investigates how different avatar locomotion styles (speed, stride, and glide), body visibility levels (full body and head-to-knee), and views (front views and side views) influence human perceptions of the naturalness of motion, similarity to the user’s locomotion, and the degree of preserving the user’s intention. Our results indicate that 1) speed and stride styles are perceived as more natural than the glide style, while the glide style is more intention-preserving than the others, 2) a greater locomotion speed of the avatar is perceived as more natural, similar, and intention-preserving than slower motion, 3) the perception of naturalness has the greatest impact on people’s preferences for locomotion styles, and that 4) head-to-knee body visibility may enhance the perception of naturalness for the glide style.",
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"normalizedAbstract": "Telepresence avatars enable users in different environments to interact with each other. In order to increase the effectiveness of these interactions, however, the movements of avatars must be adjusted accordingly to account for differences between user environments. For instance, if a user moves from one point to another in one environment, the avatar’s locomotion speed must be adjusted to move to the corresponding target point in another environment at the same time. Several locomotion styles can be used to achieve this speed change. This paper investigates how different avatar locomotion styles (speed, stride, and glide), body visibility levels (full body and head-to-knee), and views (front views and side views) influence human perceptions of the naturalness of motion, similarity to the user’s locomotion, and the degree of preserving the user’s intention. Our results indicate that 1) speed and stride styles are perceived as more natural than the glide style, while the glide style is more intention-preserving than the others, 2) a greater locomotion speed of the avatar is perceived as more natural, similar, and intention-preserving than slower motion, 3) the perception of naturalness has the greatest impact on people’s preferences for locomotion styles, and that 4) head-to-knee body visibility may enhance the perception of naturalness for the glide style.",
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"affiliation": "KAIST,Graduate School of Culture Technology",
"fullName": "Youjin Choi",
"givenName": "Youjin",
"surname": "Choi",
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{
"affiliation": "KAIST,Graduate School of Culture Technology",
"fullName": "Jeongmi Lee",
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{
"affiliation": "KAIST,Graduate School of Culture Technology",
"fullName": "Sung-Hee Lee",
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"title": "2014 20th IEEE International Conference on Parallel and Distributed Systems (ICPADS)",
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"doi": "10.1109/PADSW.2014.7097812",
"title": "Virtual keyboard for head mounted display-based wearable devices",
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"abstract": "Wearable devices eliminate the need of physically taking out a mobile device before operating on it and are emerging as the next wave of mobile systems. Head-mounted display (HMD) is a key building block of wearable devices, and offers users immediate access to relevant information in a glance. However, most existing user input mechanisms accompanying HMDs are designed for interactive information exploration rather than for extended text entry. This paper describes the design, implementation and evaluation of a text input system for HMDs called Air Typing, which requires only a standard camera and is shown to be comparable in effectiveness to single-hand text input on tablet computers in a lab setting. Air Typing features a novel two-level virtual keyword layout, which substantially improves the typing speed by cutting down unnecessary hand movements during typing and greatly simplifies the associated image processing task by doing away with fine-grained matching between fingertips and keys. The current Air Typing prototype incorporates an OpenCV-based virtual key press detection algorithm that runs on the featured two-level virtual keyboard. In our tests, an experienced user's typing speeds of one-hand text input and of two-hand text input under Air Typing are 13 and 15 words per minute (WPM), respectively.",
"abstracts": [
{
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"content": "Wearable devices eliminate the need of physically taking out a mobile device before operating on it and are emerging as the next wave of mobile systems. Head-mounted display (HMD) is a key building block of wearable devices, and offers users immediate access to relevant information in a glance. However, most existing user input mechanisms accompanying HMDs are designed for interactive information exploration rather than for extended text entry. This paper describes the design, implementation and evaluation of a text input system for HMDs called Air Typing, which requires only a standard camera and is shown to be comparable in effectiveness to single-hand text input on tablet computers in a lab setting. Air Typing features a novel two-level virtual keyword layout, which substantially improves the typing speed by cutting down unnecessary hand movements during typing and greatly simplifies the associated image processing task by doing away with fine-grained matching between fingertips and keys. The current Air Typing prototype incorporates an OpenCV-based virtual key press detection algorithm that runs on the featured two-level virtual keyboard. In our tests, an experienced user's typing speeds of one-hand text input and of two-hand text input under Air Typing are 13 and 15 words per minute (WPM), respectively.",
"__typename": "ArticleAbstractType"
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],
"normalizedAbstract": "Wearable devices eliminate the need of physically taking out a mobile device before operating on it and are emerging as the next wave of mobile systems. Head-mounted display (HMD) is a key building block of wearable devices, and offers users immediate access to relevant information in a glance. However, most existing user input mechanisms accompanying HMDs are designed for interactive information exploration rather than for extended text entry. This paper describes the design, implementation and evaluation of a text input system for HMDs called Air Typing, which requires only a standard camera and is shown to be comparable in effectiveness to single-hand text input on tablet computers in a lab setting. Air Typing features a novel two-level virtual keyword layout, which substantially improves the typing speed by cutting down unnecessary hand movements during typing and greatly simplifies the associated image processing task by doing away with fine-grained matching between fingertips and keys. The current Air Typing prototype incorporates an OpenCV-based virtual key press detection algorithm that runs on the featured two-level virtual keyboard. In our tests, an experienced user's typing speeds of one-hand text input and of two-hand text input under Air Typing are 13 and 15 words per minute (WPM), respectively.",
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"title": "Analyzing the Impact of Cognitive Load in Evaluating Gaze-Based Typing",
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"abstract": "Gaze-based virtual keyboards provide an effective interface for text entry by eye movements. The efficiency and usability of these keyboards have traditionally been evaluated with conventional text entry performance measures such as words per minute, keystrokes per character, backspace usage, etc. However, in comparison to the traditional text entry approaches, gaze-based typing involves natural eye movements that are highly correlated with human brain cognition. Employing eye gaze as an input could lead to excessive mental demand, and in this work we argue the need to include cognitive load as an eye typing evaluation measure. We evaluate three variations of gaze-based virtual keyboards, which implement variable designs in terms of word suggestion positioning. The conventional text entry metrics indicate no significant difference in the performance of the different keyboard designs. However, STFT (Short-time Fourier Transform) based analysis of EEG signals indicate variances in the mental workload of participants while interacting with these designs. Moreover, the EEG analysis provides insights into the users cognition variation for different typing phases and intervals, which should be considered in order to improve eye typing usability.",
"abstracts": [
{
"abstractType": "Regular",
"content": "Gaze-based virtual keyboards provide an effective interface for text entry by eye movements. The efficiency and usability of these keyboards have traditionally been evaluated with conventional text entry performance measures such as words per minute, keystrokes per character, backspace usage, etc. However, in comparison to the traditional text entry approaches, gaze-based typing involves natural eye movements that are highly correlated with human brain cognition. Employing eye gaze as an input could lead to excessive mental demand, and in this work we argue the need to include cognitive load as an eye typing evaluation measure. We evaluate three variations of gaze-based virtual keyboards, which implement variable designs in terms of word suggestion positioning. The conventional text entry metrics indicate no significant difference in the performance of the different keyboard designs. However, STFT (Short-time Fourier Transform) based analysis of EEG signals indicate variances in the mental workload of participants while interacting with these designs. Moreover, the EEG analysis provides insights into the users cognition variation for different typing phases and intervals, which should be considered in order to improve eye typing usability.",
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"fullName": "Chandan Kumar",
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"abstract": "The central projection model commonly used to model cameras as well as projectors, results in similar advantages and disadvantages in both types of system. Considering the case of active stereo systems using a projector and camera setup, a central projection model creates several problems, among them, narrow depth range and necessity of wide baseline are crucial. In the paper, we solve the problems by introducing a light field projector, which can project a depth-dependent pattern. The light field projector is realized by attaching a coded aperture with a high frequency mask in front of the lens of the video projector, which also projects a high frequency pattern. Because the light field projector cannot be approximated by a thin lens model and a precise calibration method is not established yet, an image-based approach is proposed to apply a stereo technique to the system. Although image-based techniques usually require a large database and often imply heavy computational costs, we propose a hierarchical approach and a feature-based search for solution. In the experiments, it is confirmed that our method can accurately recover the dense shape of curved and textured objects for a wide range of depths from a single captured image.",
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"abstract": "Calibrating the intrinsic properties of a camera is one of the fundamental tasks required for a variety of computer vision and image processing tasks. The precise measurement of focal length, location of the principal point as well as distortion parameters of the lens is crucial, for example, for 3D reconstruction [27]. Although a variety of methods exist to achieve this goal, they are often cumbersome to carry out, require substantial manual interaction, expert knowledge, and a significant operating volume. We propose a novel calibration method based on the usage of directionally encoded light rays for estimating the intrinsic parameters. It enables a fully automatic calibration with a small device mounted close to the front lens element and still enables an accuracy comparable to standard methods even when the lens is focused up to infinity. Our method overcomes the mentioned limitations since it guarantees an accurate calibration without any human intervention while requiring only a limited amount of space. Besides that, the approach also allows to estimate the distance of the focal plane as well as the size of the aperture. We demonstrate the advantages of the proposed method by evaluating several camera/lens configurations using prototypical devices.",
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"abstract": "Haptics is an important part of the VR space as seen by the plethora of haptic controllers available today. Recent advancements have enabled touchless haptic feedback through the use of focused ultrasound thereby removing the need for a controller. Here, we present the world's first mid-air haptic rhythm game in VR and describe the reasoning behind its interface and gameplay, and in particular, how these were enabled by the effective use of state-of-the-art ultrasonic haptic technology.",
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"abstract": "Speckle is a multiplicative noise that degrades the visual evaluation in ultrasound imaging. In medical ultrasound image processing, speckle noise suppression has become a very essential exercise for diagnose. The recent advancements in ultrasound devices necessitate the need of more robust despeckling techniques for enhancing ultrasound medical imaging in routine clinical practice. Many denoising techniques have been proposed for effective suppression of speckle noise. This paper compiles the performance of various techniques in medical B-mode ultrasound images.",
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"abstract": "The aliasing of the speckle noise and echo information of sea SAR blurs the structure character of sea SAR image. It is difficult that to enhance structure character of sea SAR image. Aiming at this difficulty, we propose a amalgamation frame based on EMD and exponent. The frame can effectively filter the speckle noise and enhance the structure character which finally can be seen by people’s eyes. Using the different frequency character of each level, the content of each level noise and non-noise are analyzed and exponent of each level is adjusted. And the speckle noise of simple SAR image in different scale is filtered. At last, we obtain the new denoised SAR image. The experiment result indicates that speckle noise of our result is substantially decreased and the structure character and texture of the result is clearer. And ours eyes can distinguish the character of sea SAR image. So that it proves that our filtering algorithm is effective to filter the speckle noise of sea SAR image.",
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"abstract": "It is important to measure the user's biological information when experiencing virtual reality (VR) content. By measuring such biological information during a VR stimulation, the body's response to the stimulation can be verified. In addition, it is possible to change the stimulation interactively by estimating the feeling from the measured biological information. However, the user load required to mount the sensor for biological information sensing under the existing VR content experience is significant, and the noise due to body movement is also a problem. In this paper, a biometric device that can be mounted on a head mounted display (HMD) was developed. Because an HMD is attached strongly to the face, it is thought to be robust to body movement and thus the mounting load of the sensor can be ignored. The developed device can simply be mounted on an HMD. A pulse waveform can be acquired from the optical pulse wave sensor arranged on the nose side of the HMD, and the respiration waveform can be acquired from a thermopile arranged in the nostril area of the HMD. We condacted the experiment to verified that a pulse wave and the respiration can be measured with sufficient accuracy for a calculation of the tension and excitement of the user. As a result of the experiment, it was confirmed that the pulse wave can be measured with an error of less than 1% in nine out of 14 users and that the respiration can be measured with an error of 0.6% if user does not move. The respiration was measured with high accuracy regardless of the type of HMD used.",
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"content": "It is important to measure the user's biological information when experiencing virtual reality (VR) content. By measuring such biological information during a VR stimulation, the body's response to the stimulation can be verified. In addition, it is possible to change the stimulation interactively by estimating the feeling from the measured biological information. However, the user load required to mount the sensor for biological information sensing under the existing VR content experience is significant, and the noise due to body movement is also a problem. In this paper, a biometric device that can be mounted on a head mounted display (HMD) was developed. Because an HMD is attached strongly to the face, it is thought to be robust to body movement and thus the mounting load of the sensor can be ignored. The developed device can simply be mounted on an HMD. A pulse waveform can be acquired from the optical pulse wave sensor arranged on the nose side of the HMD, and the respiration waveform can be acquired from a thermopile arranged in the nostril area of the HMD. We condacted the experiment to verified that a pulse wave and the respiration can be measured with sufficient accuracy for a calculation of the tension and excitement of the user. As a result of the experiment, it was confirmed that the pulse wave can be measured with an error of less than 1% in nine out of 14 users and that the respiration can be measured with an error of 0.6% if user does not move. The respiration was measured with high accuracy regardless of the type of HMD used.",
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"title": "Angular Dependence of the Spatial Resolution in Virtual Reality Displays",
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"abstract": "We compare two methods for characterizing the angular dependence of the spatial resolution in virtual reality head-mounted displays (HMDs) by measuring the line spread response (LSR) across the field of view (FOV) of the device. While slanted-edge is the standard method for determining the resolution of cameras, the standard approach for display devices is to used a line or edge aligned to the display pixel array. However, applying the LSR to head-mounted displays (HMDs) presents additional challenges due to the neareye optics. The LSRs of the HTC Vive and HTC Vive Pro were measured using a line of single white pixels by setting the red, green, and blue subpixels at maximum driving level. The white line was swept along a single direction over a 30° range in the FOV and the spatial resolution was measured using two approaches: wide-field and angle-scanning. In the wide-field method, the 30° FOV is imaged onto a stationary camera. In the second method, the camera is rotated across the FOV such that the white line remains static on the camera with the rotation axis located behind the lens to mimic the human visual system. The results show that the wide-field method overestimates the spatial resolution of the HMD by approximately 40% for angles larger than 10°. Consistent results obtained for the Vive and the Vive Pro indicate that the cause of the resolution limitation depends on the location in the FOV. The limitation in the center of the FOV is the pixel density, whereas, the off-axis spatial resolution is limited by optical components. Achieving high resolution VR HMDs requires system-wide design and technology improvement.",
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"abstract": "We propose a method to optimally control a rotary frame of two-handed multi-finger wire driven haptic device SPIDAR-10 which makes technical operation possible. SPIDAR-10 enable users to manipulate virtual objects in a VR world with ten fingers of both hands. Twenty wires are tensioned for five fingers of one hand in each cylindrical frame of right and left hand. Therefore, the interference of the wires in the frame causes a problem when performing a complex operation by using both hands. If the interference occurs, the operator may feel not only uncomfortable but also affect a bad influence on the accuracy of the position and orientation estimation of fingers. So, it is necessary to reduce the interference of the wires.",
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"content": "We propose a method to optimally control a rotary frame of two-handed multi-finger wire driven haptic device SPIDAR-10 which makes technical operation possible. SPIDAR-10 enable users to manipulate virtual objects in a VR world with ten fingers of both hands. Twenty wires are tensioned for five fingers of one hand in each cylindrical frame of right and left hand. Therefore, the interference of the wires in the frame causes a problem when performing a complex operation by using both hands. If the interference occurs, the operator may feel not only uncomfortable but also affect a bad influence on the accuracy of the position and orientation estimation of fingers. So, it is necessary to reduce the interference of the wires.",
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"fno": "06728904",
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"Wires",
"Haptic Interfaces",
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"proceeding": {
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"title": "2018 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)",
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"article": {
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"doi": "10.1109/VR.2018.8446217",
"title": "Effects of Image Size and Structural Complexity on Time and Precision of Hand Movements in Head Mounted Virtual Reality",
"normalizedTitle": "Effects of Image Size and Structural Complexity on Time and Precision of Hand Movements in Head Mounted Virtual Reality",
"abstract": "The effective design of virtual reality (VR) simulators requires a deeper understanding of VR mediated human actions such as hand movements, with specifically tailored experiments testing how different design parameters affect performance. The present experiment investigates the time and precision of hand (index finger) movements under varying conditions of structural complexity and image size in VR without tactile feed-back from object to hand/finger. 18 right-handed subjects followed a complex and a simple physiological structure of small, medium and large size in VR, with the index finger of one of their two hands, from right to left, and from left to right. The results show that subjects performed best with small-size-simple structures and large-size-complex structures in VR. Movement execution was generally faster and more precise on simple structures. Performance was less precise when the dominant hand was used to follow the complex structures and small object size in VR. It is concluded that both size and structural complexity critically influence task execution in VR when no tactile feed-back from object to finger is generated. Individual learning curves should be monitored from the beginning of the training as suggested by the individual speed-precision analyses.",
"abstracts": [
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"content": "The effective design of virtual reality (VR) simulators requires a deeper understanding of VR mediated human actions such as hand movements, with specifically tailored experiments testing how different design parameters affect performance. The present experiment investigates the time and precision of hand (index finger) movements under varying conditions of structural complexity and image size in VR without tactile feed-back from object to hand/finger. 18 right-handed subjects followed a complex and a simple physiological structure of small, medium and large size in VR, with the index finger of one of their two hands, from right to left, and from left to right. The results show that subjects performed best with small-size-simple structures and large-size-complex structures in VR. Movement execution was generally faster and more precise on simple structures. Performance was less precise when the dominant hand was used to follow the complex structures and small object size in VR. It is concluded that both size and structural complexity critically influence task execution in VR when no tactile feed-back from object to finger is generated. Individual learning curves should be monitored from the beginning of the training as suggested by the individual speed-precision analyses.",
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"fno": "08446217",
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"abstract": "In this paper we tackle the joint learning problem of keyframe detection and visual odometry towards monocular visual SLAM systems. As an important task in visual SLAM, keyframe selection helps efficient camera relocalization and effective augmentation of visual odometry. To benefit from it, we first present a deep network design for the keyframe selection, which is able to reliably detect keyframes and localize new frames, then an end-to-end unsupervised deep framework further proposed for simultaneously learning the keyframe selection and the visual odometry tasks. As far as we know, it is the first work to jointly optimize these two complementary tasks in a single deep framework. To make the two tasks facilitate each other in the learning, a collaborative optimization loss based on both geometric and visual metrics is proposed. Extensive experiments on publicly available datasets (i.e. KITTI raw dataset and its odometry split [12]) clearly demonstrate the effectiveness of the proposed approach, and new state-ofthe-art results are established on the unsupervised depth and pose estimation from monocular video.",
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"content": "In this paper we tackle the joint learning problem of keyframe detection and visual odometry towards monocular visual SLAM systems. As an important task in visual SLAM, keyframe selection helps efficient camera relocalization and effective augmentation of visual odometry. To benefit from it, we first present a deep network design for the keyframe selection, which is able to reliably detect keyframes and localize new frames, then an end-to-end unsupervised deep framework further proposed for simultaneously learning the keyframe selection and the visual odometry tasks. As far as we know, it is the first work to jointly optimize these two complementary tasks in a single deep framework. To make the two tasks facilitate each other in the learning, a collaborative optimization loss based on both geometric and visual metrics is proposed. Extensive experiments on publicly available datasets (i.e. KITTI raw dataset and its odometry split [12]) clearly demonstrate the effectiveness of the proposed approach, and new state-ofthe-art results are established on the unsupervised depth and pose estimation from monocular video.",
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"affiliation": "Beihang University",
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"affiliation": "University of Oxford",
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"affiliation": "The University of Sydney",
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"affiliation": "Chinese University of Hong Kong. Hong Kong",
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"abstract": "Occlusion handling in augmented reality (AR) applications is challenging in synthesizing virtual objects correctly into the real scene with respect to existing foregrounds and shadows. Furthermore, outdoor environment makes the task more difficult due to the unpredictable illumination changes. This paper proposes novel outdoor illumination constraints for resolving the foreground occlusion problem in outdoor environment. The constraints can be also integrated into a probabilistic model of multiple cues for a better segmentation of the foreground. In addition, we introduce an effective method to resolve the shadow occlusion problem by using shadow detection and recasting with a spherical vision camera. We have applied the system in our digital cultural heritage project named Virtual Asuka (VA) and verified the effectiveness of the system.",
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"title": "2019 IEEE Conference on Virtual Reality and 3D User Interfaces (VR)",
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"doi": "10.1109/VR.2019.8798025",
"title": "Occlusion Management in VR: A Comparative Study",
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"abstract": "VR applications rely on the user's ability to explore the virtual scene efficiently. In complex scenes, occlusions limit what the user can see from a given location, and the user has to navigate the viewpoint around occluders to gain line of sight to the hidden parts of the scene. When the disoccluded regions prove to be of no interest, the user has to retrace their path, making scene exploration inefficient. Furthermore, the user might not be able to assume a viewpoint that would reveal the occluded regions due to physical limitations, such as obstacles in the real world hosting the VR application, viewpoints beyond the tracked area, or viewpoints above the user's head that cannot be reached by walking. Several occlusion management methods have been proposed in visualization research, such as top view, X-ray, and multiperspective visualization, which help the user see more from the current position, having the potential to improve the exploration efficiency of complex scenes. This paper reports on a study that investigates the potential of these three occlusion management methods in the context of VR applications, compared to conventional navigation. Participants were required to explore two virtual scenes to purchase five items in a virtual Supermarket, and to find three people in a virtual parking garage. The task performance metrics were task completion time, total distance traveled, and total head rotation. The study also measured user spatial awareness, depth perception, and simulator sickness. The results indicate that users benefit from top view visualization which helps them learn the scene layout and helps them understand their position within the scene, but the top view does not let the user find targets easily due to occlusions in the vertical direction, and due to the small image footprint of the targets. The X-ray visualization method worked better in the garage scene, a scene with a few big occluders and a low occlusion depth complexity' and less well in the Supermarket scene, a scene with many small occluders that create high occlusion depth complexity. The multi-perspective visualization method achieves better performance than the top view method and the X-ray method, in both scenes. There are no significant differences between the three methods and the conventional method in terms of spatial awareness, depth perception, and simulator sickness.",
"abstracts": [
{
"abstractType": "Regular",
"content": "VR applications rely on the user's ability to explore the virtual scene efficiently. In complex scenes, occlusions limit what the user can see from a given location, and the user has to navigate the viewpoint around occluders to gain line of sight to the hidden parts of the scene. When the disoccluded regions prove to be of no interest, the user has to retrace their path, making scene exploration inefficient. Furthermore, the user might not be able to assume a viewpoint that would reveal the occluded regions due to physical limitations, such as obstacles in the real world hosting the VR application, viewpoints beyond the tracked area, or viewpoints above the user's head that cannot be reached by walking. Several occlusion management methods have been proposed in visualization research, such as top view, X-ray, and multiperspective visualization, which help the user see more from the current position, having the potential to improve the exploration efficiency of complex scenes. This paper reports on a study that investigates the potential of these three occlusion management methods in the context of VR applications, compared to conventional navigation. Participants were required to explore two virtual scenes to purchase five items in a virtual Supermarket, and to find three people in a virtual parking garage. The task performance metrics were task completion time, total distance traveled, and total head rotation. The study also measured user spatial awareness, depth perception, and simulator sickness. The results indicate that users benefit from top view visualization which helps them learn the scene layout and helps them understand their position within the scene, but the top view does not let the user find targets easily due to occlusions in the vertical direction, and due to the small image footprint of the targets. The X-ray visualization method worked better in the garage scene, a scene with a few big occluders and a low occlusion depth complexity' and less well in the Supermarket scene, a scene with many small occluders that create high occlusion depth complexity. The multi-perspective visualization method achieves better performance than the top view method and the X-ray method, in both scenes. There are no significant differences between the three methods and the conventional method in terms of spatial awareness, depth perception, and simulator sickness.",
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"affiliation": "State Key Laboratory of Virtual Reality Technology and Systems, Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, China",
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"affiliation": "Purdue University, United States",
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"abstract": "In this demo, we present RKSLAM, a robust keyframe-based monocular SLAM system that can reliably handle fast motion with strong rotation and ensure good AR experiences. We contribute two key technical contributions: a novel multi-homography based feature tracking method which is very robust and efficient, and a sliding-window based camera pose optimization scheme which imposes the motion prior constraints between consecutive frames through simulated or real IMU data. Based on RKSLAM, we develop an AR App on a mobile device, which allows the user to freely insert 3D furniture models into the scene to see the AR effect without imagination.",
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"title": "2019 IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct)",
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"abstract": "With the recent developments of Mixed Reality (MR) devices and advances in 3D scene understanding, MR applications on mobile devices are becoming available to a large part of the society. These applications allow users to mix virtual content into the surrounding environment. However the ability to mediate (i.e., modify or alter) the surrounding environment remains a difficult and unsolved problem that limits the degree of immersion of current MR applications on mobile devices. In this paper, we present a method to mediate 2D views of a real environment using a single consumer-grade RGB-D camera and without the need of pre-scanning the scene. Our proposed method creates in real-time a dense and detailed keyframe-based 3D map of the real scene and takes advantage of a semantic instance segmentation to isolate target objects. We show that our proposed method allows to remove target objects in the environment and to replace them by their virtual counterpart, which are built on-the-fly. Such an approach is well suited for creating mobile Mediated Reality applications.",
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"content": "With the recent developments of Mixed Reality (MR) devices and advances in 3D scene understanding, MR applications on mobile devices are becoming available to a large part of the society. These applications allow users to mix virtual content into the surrounding environment. However the ability to mediate (i.e., modify or alter) the surrounding environment remains a difficult and unsolved problem that limits the degree of immersion of current MR applications on mobile devices. In this paper, we present a method to mediate 2D views of a real environment using a single consumer-grade RGB-D camera and without the need of pre-scanning the scene. Our proposed method creates in real-time a dense and detailed keyframe-based 3D map of the real scene and takes advantage of a semantic instance segmentation to isolate target objects. We show that our proposed method allows to remove target objects in the environment and to replace them by their virtual counterpart, which are built on-the-fly. Such an approach is well suited for creating mobile Mediated Reality applications.",
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"normalizedAbstract": "With the recent developments of Mixed Reality (MR) devices and advances in 3D scene understanding, MR applications on mobile devices are becoming available to a large part of the society. These applications allow users to mix virtual content into the surrounding environment. However the ability to mediate (i.e., modify or alter) the surrounding environment remains a difficult and unsolved problem that limits the degree of immersion of current MR applications on mobile devices. In this paper, we present a method to mediate 2D views of a real environment using a single consumer-grade RGB-D camera and without the need of pre-scanning the scene. Our proposed method creates in real-time a dense and detailed keyframe-based 3D map of the real scene and takes advantage of a semantic instance segmentation to isolate target objects. We show that our proposed method allows to remove target objects in the environment and to replace them by their virtual counterpart, which are built on-the-fly. Such an approach is well suited for creating mobile Mediated Reality applications.",
"fno": "476500a211",
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"Cameras",
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"Image Segmentation",
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{
"affiliation": "Kyushu University / Dalian University of Technology",
"fullName": "Yu Xue",
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{
"affiliation": "Kyushu University",
"fullName": "Diego Thomas",
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{
"affiliation": "University of Toulouse",
"fullName": "Frédéric Rayar",
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{
"affiliation": "Kyushu University",
"fullName": "Hideaki Uchiyama",
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"fullName": "Rin-ichiro Taniguchi",
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{
"affiliation": "Dalian University of Technology",
"fullName": "Boacai Yin",
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