Joseph J. LaViola

A discussion of cybersickness in virtual environments

An important and troublesome problem with current virtual environment (VE) technology is the tendency for some users to exhibit symptoms that parallel symptoms of classical motion sickness both during and after the VE experience. This type of sickness, cybersickness, is distinct from motion sickness in that the user is often stationary but has a compelling sense of self motion through moving visual imagery. Unfortunately, there are many factors that can cause cybersickness and there is no foolproof method for eliminating the problem. In this paper, I discuss a number of the primary factors that contribute to the cause of cybersickness, describe three conflicting cybersickness theories that have been postulated, and discuss some possible methods for reducing cybersickness in VEs.

An Introduction to 3-D User Interface Design

Three-dimensional user interface design is a critical component of any virtual environment (VE) application. In this paper, we present a broad overview of 3-D interaction and user interfaces. We discuss the effect of common VE hardware devices on user interaction, as well as interaction techniques for generic 3-D tasks and the use of traditional 2-D interaction styles in 3-D environments. We divide most user-interaction tasks into three categories: navigation, selection/manipulation, and system control. Throughout the paper, our focus is on presenting not only the available techniques but also practical guidelines for 3-D interaction design and widely held myths. Finally, we briefly discuss two approaches to 3-D interaction design and some example applications with complex 3-D interaction requirements. We also present an annotated online bibliography as a reference companion to this article.

A comparison of unscented and extended Kalman filtering for estimating quaternion motion

The unscented Kalman filter is a superior alternative to the extended Kalman filter for a variety of estimation and control problems. However, its effectiveness for improving human motion tracking for virtual reality applications in the presence of noisy data has been unexplored. In this paper, we present an empirical study comparing the performance of unscented and extended Kalman filtering for improving human head and hand tracking. Specifically, we examine human head and hand orientation motion signals, represented with quaternions, which are critical for correct viewing perspectives in virtual reality. Our experimental results and analysis indicate that unscented Kalman filtering performs equivalently with extended Kalman filtering. However, the additional computational overhead of the unscented Kalman filter and quasi-linear nature of the quaternion dynamics lead to the conclusion that the extended Kalman filter is a better choice for estimating quaternion motion in virtual reality applications.

MathPad 2 : a system for the creation and exploration of mathematical sketches

We present mathematical sketching, a novel, pen-based, modeless gestural interaction paradigm for mathematics problem solving. Mathematical sketching derives from the familiar pencil-and-paper process of drawing supporting diagrams to facilitate the formulation of mathematical expressions; however, with a mathematical sketch, users can also leverage their physical intuition by watching their hand-drawn diagrams animate in response to continuous or discrete parameter changes in their written formulas. Diagram animation is driven by implicit associations that are inferred, either automatically or with gestural guidance, from mathematical expressions, diagram labels, and drawing elements. The modeless nature of mathematical sketching enables users to switch freely between modifying diagrams or expressions and viewing animations. Mathematical sketching can also support computational tools for graphing, manipulating and solving equations; initial feedback from a small user group of our mathematical sketching prototype application, MathPad2, suggests that it has the potential to be a powerful tool for mathematical problem solving and visualization.

On Kalman Filtering With Nonlinear Equality Constraints

The state space description of some physical systems possess nonlinear equality constraints between some state variables. In this paper, we consider the problem of applying a Kalman filter-type estimator in the presence of such constraints. We categorize previous approaches into pseudo-observation and projection methods and identify two types of constraints-those that act on the entire distribution and those that act on the mean of the distribution. We argue that the pseudo-observation approach enforces neither type of constraint and that the projection method enforces the first type of constraint only. We propose a new method that utilizes the projection method twice-once to constrain the entire distribution and once to constrain the statistics of the distribution. We illustrate these algorithms in a tracking system that uses unit quaternions to encode orientation

CavePainting: a fully immersive 3D artistic medium and interactive experience

CavePainting is an artistic medium that uses a 3D analog of 2D brush strokes to create 3D works of art in a fully immersive Cave environment. Physical props and gestures are used to provide an intuitive interface for artists who may not be familiar with virtual reality. The system is designed to take advantage of the 8 ft. x 8 ft. x 8 ft. space in which the artist works. CavePainting enables the artist to create a new type of art and provides a novel approach to viewing this art after it has been created. In this paper, we describe CavePainting’s 3D brush strokes, color pickers, artwork viewing mode, and interface. We also present several works of art created using the system along with feedback from artists. Artists are excited about this form of art and the gestural, full-body experience of creating it. CR Categories and Subject Descriptors: I.3.6 [Computer Graphics]: Methodology and Techniques - Interaction Techniques; I.3.7 [Computer Graphics]: Three-Dimensional Graphics and Realism Virtual Reality; J.5 [Arts and Humanities]: Fine Arts Additional Key Words: 3D painting, 3D modeling, gestures, tangible user interface, Cave

Exploring the Trade-off Between Accuracy and Observational Latency in Action Recognition

An important aspect in designing interactive, action-based interfaces is reliably recognizing actions with minimal latency. High latency causes the system’s feedback to lag behind user actions and thus significantly degrades the interactivity of the user experience. This paper presents algorithms for reducing latency when recognizing actions. We use a latency-aware learning formulation to train a logistic regression-based classifier that automatically determines distinctive canonical poses from data and uses these to robustly recognize actions in the presence of ambiguous poses. We introduce a novel (publicly released) dataset for the purpose of our experiments. Comparisons of our method against both a Bag of Words and a Conditional Random Field (CRF) classifier show improved recognition performance for both pre-segmented and online classification tasks. Additionally, we employ GentleBoost to reduce our feature set and further improve our results. We then present experiments that explore the accuracy/latency trade-off over a varying number of actions. Finally, we evaluate our algorithm on two existing datasets.

Hands-free multi-scale navigation in virtual environments

This paper presents a set of interaction techniques for hands-free multi-scale navigation through virtual environments. We believe that hands-free navigation, unlike the majority of navigation techniques based on hand motions, has the greatest potential for maximizing the interactivity of virtual environments since navigation modes are offloaded from modal hand gestures to more direct motions of the feet and torso. Not only are the users’ hands freed to perform tasks such as modeling, notetaking and object manipulation, but we also believe that foot and torso movements may inherently be more natural for some navigation tasks. The particular interactions that we developed include a leaning technique for moving small and medium distances, a foot-gesture controlled Step WIM that acts as a floor map for moving larger distances, and a viewing technique that enables a user to view a full 360 degrees in only a three-walled semi-immersive environment by subtly amplifying the mapping between their torso rotation and the virtual world. We formatively designed and evaluated our techniques in existing projects related to archaeological reconstructions, free-form modeling, and interior design. In each case, our informal observations have indicated that motions such as walking and leaning are both appropriate for navigation and are effective in cognitively simplifying complex virtual environment interactions since functionality is more evenly distributed across the body.

Double exponential smoothing: an alternative to Kalman filter-based predictive tracking

We present novel algorithms for predictive tracking of user position and orientation based on double exponential smoothing. These algorithms, when compared against Kalman and extended Kalman filter-based predictors with derivative free measurement models, run approximately 135 times faster with equivalent prediction performance and simpler implementations. This paper describes these algorithms in detail along with the Kalman and extended Kalman Filter predictors tested against. In addition, we describe the details of a predictor experiment and present empirical results supporting the validity of our claims that these predictors are faster, easier to implement, and perform equivalently to the Kalman and extended Kalman filtering predictors.

The Wiimote and Beyond: Spatially Convenient Devices for 3D User Interfaces

The Nintendo Wii Remote (Wiimote) has served as an input device in 3D user interfaces (3DUIs) but differs from the general-purpose input hardware typically found in research labs and commercial applications. Despite this, no one has systematically evaluated the device in terms of what it offers 3DUI designers. Experience with the Wiimote indicates that its an imperfect harbinger of a new class of spatially convenient devices, classified in terms of spatial data, functionality, and commodity design. This tutorial presents techniques for using the Wiimote in 3DUIs. It discusses the devices strengths and how to compensate for its limitations, with implications for future spatially convenient devices.