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Graphics Lecture 1. Introduction to Virtual Reality CSE 425 Spring 2002 김창헌 Department of Graphics Lecture 1. Introduction to Virtual Reality CSE 425 Spring 2002 김창헌 Department of Computer Science Korea University http: //cgvr. korea. ac. kr/courses/cse 425/ cgvr. korea. ac. kr Graphics Lab @ Korea University

Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Areas History State of the Art and R&D Issues Some Application Examples cgvr. korea. ac. kr Graphics Lab @ Korea University

Computational Reality CGVR Glove CG Machine HMD : This is not VR! n Studies Computational Reality CGVR Glove CG Machine HMD : This is not VR! n Studies on reality - computational reality n VR = computational reality n 1) Seek for the computational model of reality 2) Apply the model to the VR system cgvr. korea. ac. kr Graphics Lab @ Korea University

Science vs. Engineering n CGVR Analogous to AI lots of hypes o AI as Science vs. Engineering n CGVR Analogous to AI lots of hypes o AI as a science / engineering o science - computational model for intelligence engineering - making “intelligent-looking” machines n The essence of science is the search for models. o Greek scholars o stars, sky (heavenly bodies) o nature (earthly bodies) o human mind cgvr. korea. ac. kr astrology physics philosophy Graphics Lab @ Korea University

VR Concept CGVR Graphics Lab @ Korea University VR Concept CGVR Graphics Lab @ Korea University

What is VR? Definition -1 n CGVR Def 1 - Computer generated environment that What is VR? Definition -1 n CGVR Def 1 - Computer generated environment that is. . . n Immersive, (like IMAX, dome projection) n Interactive, (like computer game) n Multi-sensory, n Viewer-centered, n 3 D, n and the combination of technologies required to build such environments. cgvr. korea. ac. kr Graphics Lab @ Korea University

What is VR? Definition -2 n CGVR Def 2 - Physical participation in the What is VR? Definition -2 n CGVR Def 2 - Physical participation in the interactive simulation. n Virtual environment o A computational model or realization of it by VR techniques. n Cyberspace n A computer environment spanning - multiple computers, - multiple users, - multiple sets of data. cgvr. korea. ac. kr Graphics Lab @ Korea University

VR as a computer Technology CGVR Ultimate computer interface : human body and its VR as a computer Technology CGVR Ultimate computer interface : human body and its sensor To turn the whole body into an input device n Technological trends n o o o Powerful Smart Physical Supercomputing, parallel computing AI VR n Primary concern Other important issues n VR computer - S/W - H/W, human factors, social issues, infrastructure - interactive, multimodal, immersive Graphics Lab @ Korea University

Interacting with computers CGVR Computer World Graphics Lab @ Korea University Interacting with computers CGVR Computer World Graphics Lab @ Korea University

New Paradigm for HCI CGVR Computer World Conventional Computer World VR-based Computer Graphics Lab New Paradigm for HCI CGVR Computer World Conventional Computer World VR-based Computer Graphics Lab @ Korea University

VR Application CGVR Education/ Training Design Engineering Entertainment Museum Arts VR application Scientific Visualization VR Application CGVR Education/ Training Design Engineering Entertainment Museum Arts VR application Scientific Visualization Medicine Communication Products Engineering cgvr. korea. ac. kr Graphics Lab @ Korea University

VR technologies CGVR Character CRT Computer graphics Graphic CRT Real time CG Virtual console VR technologies CGVR Character CRT Computer graphics Graphic CRT Real time CG Virtual console Keyboard Mouse tablet 3 D mouse Computer simulation/ visualization Virtual Reality Video arts Virtual products design 3 D CAD Computer Aided Design Tele-conference Tele-Existence TV phone Tele-Operation Telephone All technologies meet together at VR !! cgvr. korea. ac. kr Graphics Lab @ Korea University

VR Terminologies n CGVR VR in Real World vs. Virtual World Tele-Existence in Real VR Terminologies n CGVR VR in Real World vs. Virtual World Tele-Existence in Real World Virtual Reality • Standard Tele-Existence • Augmented Tele-Existence • Size • Sensation • Time • Physical World Tele-Existence in • Quasi Physical World Virtual World • Non Physical World cgvr. korea. ac. kr Graphics Lab @ Korea University

Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Areas History State of the Art and R&D Issues Some Application Examples cgvr. korea. ac. kr Graphics Lab @ Korea University

Conceptual Model of VR Display system CGVR • 3 D image Large-scale display, Head Conceptual Model of VR Display system CGVR • 3 D image Large-scale display, Head Mounted Display • Sound field by DSP • Force beedback mechanism • Tactile display Computer Simulation System Human cgvr. korea. ac. kr Sensing system • Non-contact type magnetic field supersonic wave infrared light • Contact type optical fiber strain gauge potentio-meter Graphics Lab @ Korea University

Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Areas History State of the Art and R&D Issues Some Application Examples cgvr. korea. ac. kr Graphics Lab @ Korea University

VR Related areas CGVR 1. Training simulation 2. Tele-operation 3. Computer graphics 4. Artificial VR Related areas CGVR 1. Training simulation 2. Tele-operation 3. Computer graphics 4. Artificial intelligence Graphics Lab @ Korea University

1. Training simulation n CGVR Example – Flight Simulation cgvr. korea. ac. kr Graphics 1. Training simulation n CGVR Example – Flight Simulation cgvr. korea. ac. kr Graphics Lab @ Korea University

1. Training simulation (cont) Training simulation n CGVR Differences n n n Reconfigurable by 1. Training simulation (cont) Training simulation n CGVR Differences n n n Reconfigurable by changing software May include highly unnatural environment Highly interactive and adaptive Use of a wide variety of human sensing modalities and sensori-motor systems Highly immersive Near-field is synthetic Far-field is synthetic Graphics Lab @ Korea University

VR Related areas CGVR 1. Training simulation 2. Tele-operation 3. Computer graphics 4. Artificial VR Related areas CGVR 1. Training simulation 2. Tele-operation 3. Computer graphics 4. Artificial intelligence Graphics Lab @ Korea University

2. Tele-operation cgvr. korea. ac. kr CGVR Graphics Lab @ Korea University 2. Tele-operation cgvr. korea. ac. kr CGVR Graphics Lab @ Korea University

2. Tele-operation (con’t) n for at least 30 years. n CGVR Tele-operator - directly 2. Tele-operation (con’t) n for at least 30 years. n CGVR Tele-operator - directly (manually) controlled tele-operator - tele-robot n Tele-operation vs. Virtual reality n Tele-presence vs. Virtual presence Graphics Lab @ Korea University

3. Computer graphics CGVR n Modeling n Motion control (animation) n Rendering n User 3. Computer graphics CGVR n Modeling n Motion control (animation) n Rendering n User interface Graphics Lab @ Korea University

4. Artificial intelligence n Studies n Tested CGVR on perception and cognition for AI 4. Artificial intelligence n Studies n Tested CGVR on perception and cognition for AI research Graphics Lab @ Korea University

Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Areas History State of the Art and R&D Issues Some Application Examples cgvr. korea. ac. kr Graphics Lab @ Korea University

History n 1’st stage: some visionaries - Morton Heilig - Ivan Surtherland - Myron History n 1’st stage: some visionaries - Morton Heilig - Ivan Surtherland - Myron Krueger - William Gibson n CGVR : Experience. Theatre(1962) : Sketchpad(1963), HMD(1966) : Artificial Reality(1972) : “Cyberspace” in Neuromancer(1984) 2’nd stage: technology development for specific purposes - training simulator : Earlier works - space exploration : NASA for astronaut simulation - tele-operation Graphics Lab @ Korea University

History (cont) n 3’rd stage: VR as the general-purpose technology - Jaron Lanier - History (cont) n 3’rd stage: VR as the general-purpose technology - Jaron Lanier - VR industry - VR academia n CGVR : VPL(1987) – Dataglove, Eye. Phone, VR system : Division Ltd. Sense 8, World. Design (production house, W-Industry (game) : MIT, UNC, UW, Tokyo U. Next stage: Toward a scientific discipline - computational reality - a new computing paradigm - a new media - a new art form - representation, creation and operation of virtual worlds Graphics Lab @ Korea University

Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Contents n n n CGVR What is VR? Conceptual Model of VR VR Related Areas History State of the Art and R&D Issues Some Application Examples cgvr. korea. ac. kr Graphics Lab @ Korea University

State of the Art & Issues State of the Art and R&D Issues n State of the Art & Issues State of the Art and R&D Issues n CGVR Reference -Virtual Reality: Scientific and Technological Challenges”, pp. 3566, National Research Council, National Academic Press, 1995. n Areas of the study 1. application domains 2. psychological issues 3. VR technologies 4. evaluation of VR systems Graphics Lab @ Korea University

1. Application domains n n n n n CGVR design, manufacturing & marketing medicine, 1. Application domains n n n n n CGVR design, manufacturing & marketing medicine, health care hazardous operations training entertainment, military experimental psychology education information visualization Tele-communication, Tele-travel Graphics Lab @ Korea University

2. Psychological issues CGVR human performance characteristics n alteration of sensori-motor loops n developing 2. Psychological issues CGVR human performance characteristics n alteration of sensori-motor loops n developing the cognitive model n cognitive side-effect n Graphics Lab @ Korea University

3. VR technologies n CGVR Gap between the current technology & the required technology 3. VR technologies n CGVR Gap between the current technology & the required technology (exception - entertainment, tele-operation) (1) Human-Computer Interface (2) Computer Generation of VE (3) Tele-robotics (4) Network Graphics Lab @ Korea University

State of the Art and R&D Issues (con’t) CGVR 1. Application Domains 2. Psycological State of the Art and R&D Issues (con’t) CGVR 1. Application Domains 2. Psycological issues 3. VR technologies (1) HCI (Human-Computer Interface) (2) Computer Generation of VE (3) Tele-robotics (4) Network cgvr. korea. ac. kr Graphics Lab @ Korea University

(1) Human-Computer Interface (con’t) n n n n CGVR visual channel auditory channel haptic (1) Human-Computer Interface (con’t) n n n n CGVR visual channel auditory channel haptic channel motion interface position tracking video camera microphone others Graphics Lab @ Korea University

(1)HCI – Visual Channel n CGVR visual display - HMD (Head-Mounted Display) - OHD (1)HCI – Visual Channel n CGVR visual display - HMD (Head-Mounted Display) - OHD (Off-Head Display) Graphics Lab @ Korea University

(1)HCI – Visual Channel (con’t) n CGVR research issues - ergonomics - improvement of (1)HCI – Visual Channel (con’t) n CGVR research issues - ergonomics - improvement of resolution and FOV (field of view) - wireless - integration of visual, auditory, position tracking - sun glass-like - see-through option - exploiting FOV and peripheral vision cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Auditory channel n Current hardware is adequate. n CGVR Research issues n (1)HCI – Auditory channel n Current hardware is adequate. n CGVR Research issues n perceptual issues o o similar to the visual channel use for sensory substitution (for visual, haptic) auditory scene analysis n hear-through display n cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Auditory channel (con’t) n CGVR Traditional Stereo Sound cgvr. korea. ac. kr (1)HCI – Auditory channel (con’t) n CGVR Traditional Stereo Sound cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Auditory channel (con’t) n CGVR 3 D virtual Sound cgvr. korea. ac. (1)HCI – Auditory channel (con’t) n CGVR 3 D virtual Sound cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Haptic channel n Force, Pressure, Tactile Feedback n CGVR Unique characteristics n (1)HCI – Haptic channel n Force, Pressure, Tactile Feedback n CGVR Unique characteristics n n Haptic interface requires manipulation and sensing Mechanism body-based exoskeleton n ground-based n cgvr. korea. ac. kr glove, joystick Graphics Lab @ Korea University

(1)HCI – Haptic channel (con’t) n CGVR Research issues - haptic science = study (1)HCI – Haptic channel (con’t) n CGVR Research issues - haptic science = study on the human haptics (bio-mechanical, psychophysical, cognitive) tool-hand system (which takes its metaphor from real tools) - creating the haptic illusion - the interaction effects of haptic and vision - texture, temperature devices - cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Haptic channel (con’t) n CGVR Haptic channel in Tele-operation Haptic devices Operator (1)HCI – Haptic channel (con’t) n CGVR Haptic channel in Tele-operation Haptic devices Operator module cgvr. korea. ac. kr Work side module Graphics Lab @ Korea University

(1)HCI – Haptic channel (con’t) n CGVR Interaction of haptic and vision cgvr. korea. (1)HCI – Haptic channel (con’t) n CGVR Interaction of haptic and vision cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Motion interface n CGVR motion n whole-body motion passive - e. g. (1)HCI – Motion interface n CGVR motion n whole-body motion passive - e. g. , motion platform o active - e. g. , locomotion o n part-body motion passive o active o cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Motion interface (con’t) n CGVR motion cues n n n vestibular system (1)HCI – Motion interface (con’t) n CGVR motion cues n n n vestibular system - inertial motor visual auditory proprioceptive / kinesthetic - muscle tactile cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Motion interface (con’t) n CGVR motion interface n inertial system o n (1)HCI – Motion interface (con’t) n CGVR motion interface n inertial system o n moves the body (e. g. , treadmill, motion platform) non-inertial system o simulates motion cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Position tracking and mapping n Tracking Mapping n CGVR Tracking mechanisms n (1)HCI – Position tracking and mapping n Tracking Mapping n CGVR Tracking mechanisms n n n = finding a point = finding a 3 D surface (e. g. , environmental mapping) Mechanical linkage Magnetic Optical Acoustic Inertial cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Position tracking and mapping (con’t) n eye tracking n CGVR research issues (1)HCI – Position tracking and mapping (con’t) n eye tracking n CGVR research issues tracking n mapping n cgvr. korea. ac. kr Graphics Lab @ Korea University

(1)HCI – Other types of interfaces CGVR n olfactory (smell) n gustatory (taste) n (1)HCI – Other types of interfaces CGVR n olfactory (smell) n gustatory (taste) n heat, wind, humidity n speech n direct physiological sensing and control cgvr. korea. ac. kr Graphics Lab @ Korea University

State of the Art and R&D Issues CGVR 1. Application Domains 2. Psycological issues State of the Art and R&D Issues CGVR 1. Application Domains 2. Psycological issues 3. VR technologies (1) human-machine interface (2) computer generation of VE (3) tele-robotics (4) Network Graphics Lab @ Korea University

Conceptual Model of VR Display system CGVR • 3 D image Large-scale display, Head Conceptual Model of VR Display system CGVR • 3 D image Large-scale display, Head Mounted Display • Sound field by DSP • Force beedback mechanism • Tactile display Computer Simulation System Human Sensing system • Non-contact type magnetic field supersonic wave infrared light • Contact type optical fiber strain gauge potentio-meter Graphics Lab @ Korea University

(2) Computer VE(cont’) Generation of VE CGVR The core issue n General-purpose VR system? (2) Computer VE(cont’) Generation of VE CGVR The core issue n General-purpose VR system? n Trade-off between realism and interactivity n Requirements n o o o frame rate response time scene quality Graphics Lab @ Korea University

(2) Computer VE(cont’) Generation of VE CGVR hardware n interaction and navigation n VE (2) Computer VE(cont’) Generation of VE CGVR hardware n interaction and navigation n VE management n -simulation -rendering modeling n autonomous agent n hypermedia interaction n OS n cgvr. korea. ac. kr Graphics Lab @ Korea University

VE management – simulation CGVR Task : simulating everyday world n Traditional simulation methods VE management – simulation CGVR Task : simulating everyday world n Traditional simulation methods do not work. requires pre-processing n Need : “meta-modeling” n Graphics Lab @ Korea University

VE management – Rendering n CGVR Issue : load balancing 1. partitioning VE 2. VE management – Rendering n CGVR Issue : load balancing 1. partitioning VE 2. LOD Much work has been done on static scene. n Research issues n 1. dynamic scene 2. parallel rendering Graphics Lab @ Korea University

(2) Computer Generation of VE n CGVR OS n n n real-time, multi-modal requirements (2) Computer Generation of VE n CGVR OS n n n real-time, multi-modal requirements very high-resolution time slicing atomic, transparent distribution of tasks large number of light-weighted processors, communicating by means of shared memory support for time-critical computing: negotiated, graceful degradation o guaranteed frame rate, lag time o cgvr. korea. ac. kr Graphics Lab @ Korea University

State of the Art and R&D Issues CGVR 1. Application Domains 2. Psycological issues State of the Art and R&D Issues CGVR 1. Application Domains 2. Psycological issues 3. VR technologies (1) human-machine interface (2) computer generation of VE (3) tele-robotics (4) Network Graphics Lab @ Korea University

(3) Tele-robotics CGVR Tele-robotics and VR n Hardware n Time-delay problem n Distributed Tele-robots (3) Tele-robotics CGVR Tele-robotics and VR n Hardware n Time-delay problem n Distributed Tele-robots n Operator - stays in a safe environment - guides the robot intelligently n Robot - works in the hazardous environment n cgvr. korea. ac. kr Graphics Lab @ Korea University

(4) Network n The future is here! n CGVR Applications distance learning n group (4) Network n The future is here! n CGVR Applications distance learning n group entertainment n distributed training n distributed design n current n future n What is needed n cgvr. korea. ac. kr Graphics Lab @ Korea University

Research Organizations CGVR International Efforts U. S. A. U. K. Germany Japan defense, space, Research Organizations CGVR International Efforts U. S. A. U. K. Germany Japan defense, space, visualization, medicine education, training, entertainment VR as a logical extension of robotics, automation, HDTV. Graphics Lab @ Korea University

Academia CGVR HIT Lab, University of Washington University of North Carolina Media Lab, MIT Academia CGVR HIT Lab, University of Washington University of North Carolina Media Lab, MIT Georgia Institute of Technology Naval Postgraduate School University of Pennsylvania University of California at Berkeley University of Illinois - Chicago Columbia University of Toronto Graphics Lab @ Korea University