Incorporating Dynamic Real Objects into Immersive Virtual Environments Benjamin Lok University of North Carolina at Charlotte Samir Naik Disney VR Studios Mary Whitton, Frederick P. Brooks Jr. University of North Carolina at Chapel Hill April 28 th , 2003
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Incorporating Dynamic Real Objects into Immersive Virtual Environments Benjamin Lok University of North Carolina at Charlotte Samir Naik Disney VR Studios.
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IncorporatingDynamic Real Objects
into Immersive Virtual Environments
Benjamin Lok
University of North Carolina at Charlotte
Samir Naik
Disney VR Studios
Mary Whitton, Frederick P. Brooks Jr.
University of North Carolina at Chapel Hill
April 28th, 2003
Outline
• Motivation
• Managing Collisions Between Virtual and Dynamic Real Objects
• NASA Case Study
• Conclusion
Why we need dynamic real objects in VEs
How we get dynamic real objects in VEs
Applying the system to a driving real world problem
Assembly Verification
• Given a model, we would like to explore:– Can it be readily assembled?– Can repairers service it?
• Example:– Changing an oil filter– Attaching a cable
to a payload
Current ImmersiveVE Approaches
• Most objects are purely virtual– User– Tools– Parts
• Most virtual objects are not registered with a corresponding real object.
• System has limited shape and motion information of real objects.
Ideally
• Would like:– Accurate virtual representations, or avatars, of
real objects– Virtual objects responding to real objects– Haptic feedback– Correct affordances– Constrained motion
• Example: Unscrewing a virtual oil filter from a car engine model
Dynamic Real Objects
• Tracking and modeling dynamic objects (change shape and appearance) would:– Improve interactivity– Enable visually faithful
virtual representations
Previous Work: Incorporating Real Objects into VEs
• Non-Real Time– Virtualized Reality (Kanade, et al.)
• Real Time– Image Based Visual Hulls [Matusik00, 01]– 3D Tele-Immersion [Daniilidis00]
• How important is to get real objects into a virtual environment?
Previous Work: Interaction and Collision Detection
• Wanted a plausible task given common assembly jobs.
• Abstracted a payload layout task– Screw in tube– Attach power cable
Task Goal
• Determine how much space should be allocated between the TOP of the PMT and the BOTTOM of Payload A
Videos of Task
Results
Participant
#1 #2 #3 #4
(Pre-experience) How much space is necessary?
14 cm 14.2 cm 15 – 16 cm
15 cm
(Pre-experience) How much space would you actually allocate?
21 cm 16 cm 20 cm 15 cm
Actual space required in VE 15 cm 22.5 cm 22.3 cm 23 cm
(Post-experience) How much space would you actually allocate?
18 cm 16 cm
(modify tool)
25 cm 23 cm
The tube was 14 cm long,
4cm in diameter.
Results
• Late discovery of similar problems is not uncommon.
Participant
#1 #2 #3 #4
Time cost of the spacing error
days to months 30 days days to months months
Financial cost of the spacing error
$100,000s -$1,000,000+
largest cost is huge hit in schedule
$100,000s -$1,000,000+
$100,000s
Case Study Conclusions
• Object reconstruction VEs benefits:– Specialized tools and parts require no modeling– Short development time to try multiple designs– Allows early testing of subassembly integration
from multiple suppliers
• Possible to identify assembly, design, and integration issues early that results in considerable savings in time and money.
Conclusions
Innovations
• Presented algorithms for
– Incorporation of real objects into VEs
– Handling interactions between real and virtual objects
• Applied to real-world task
Future Work
• Improved model fidelity
• Improved collision detection and response
• Apply system to upcoming NASA payload projects.
ThanksCollaborators
Dr. Larry F. Hodges
Danette Allen (NASA LaRC)
UNC-CH Effective Virtual Environments
UNC-C Virtual Environments Group
For more information:http://www.cs.uncc.edu/~bclok