沉浸式虚拟现实系统中头部位姿预测方法
|
摘要
为了最小化运动画面延时对沉浸式虚拟现实系统的影响,提出了一种具有运动画面延时抖动补偿功能的卡尔曼滤波算法,用于对用户头部位姿进行预测.首先对运动画面延时进行分析和预测,然后根据头部运动相关性分析结果选择位姿预测方式,并在头部运动建模和位姿预测时分别利用延时预测结果对延时抖动进行补偿.实验结果表明,相比设备原有预测方法,其在一般情况下的姿态预测绝对误差的均值分别减小45.74%、47.25%和40.96%,最大值分别减小11.49%、26.34%和36.79;位置预测绝对误差的均值分别减小35.94%、45.90%和55.81%,最大值分别减小1.05%、25.60%和44.74%.
To minimize the impact of motion-to-photo latency,we propose a Kalman filter algorithm with motion-tophoton latency jitter compensation to predict the user's head pose. First,we analyze and predict the motion-tophoton latency. Second,we select a head pose prediction method according to the correlation analysis results of the head motion. Further,we use the latency prediction result to compensate for the delay jitter in the head motion modeling and pose prediction. Compared to the original prediction method for the equipment,the average of the absolute error of attitude prediction decreases by 45.74%,47.25%,and 40.96%. The maximum decreases by 11.49%,26.34%,and 36.79. Moreover,the average of the absolute error of the position prediction decreases by 35.94%,45.90%,and 55.81% and the maximum decreases by 1.05%,25.60% and 44.74%.
To minimize the impact of motion-to-photo latency,we propose a Kalman filter algorithm with motion-tophoton latency jitter compensation to predict the user's head pose. First,we analyze and predict the motion-tophoton latency. Second,we select a head pose prediction method according to the correlation analysis results of the head motion. Further,we use the latency prediction result to compensate for the delay jitter in the head motion modeling and pose prediction. Compared to the original prediction method for the equipment,the average of the absolute error of attitude prediction decreases by 45.74%,47.25%,and 40.96%. The maximum decreases by 11.49%,26.34%,and 36.79. Moreover,the average of the absolute error of the position prediction decreases by 35.94%,45.90%,and 55.81% and the maximum decreases by 1.05%,25.60% and 44.74%.
引文
[1] Bo L,Fuyi C,Jinfeng L. The teleoperation simulation system based on VR[C]//2014 International Conference on Virtual Reality and Visual-ization. Piscataway,NJ,USA:IEEE,2014:7-11.
[2] Cichon T,Romann J. Robotic teleoperation:Mediated and supported by virtual testbeds[C]//2017 IEEE International Symposium on Safety,Security and Rescue Robotics(SSRR). Piscataway,NJ,USA:IEEE,2017:55-60.
[3] Rakshit S M,Banerjee S,Hempel M,et al. Fusion of VR and teleoperation for innovative near-presence laboratory experience in engineeringeducation[C]//2017 IEEE International Conference on Electro Information Technology(EIT). Piscataway,NJ,USA:IEEE,2017:376-381.
[4] White P J,Byagowi A,Moussavi Z. Effect of viewing mode on pathfinding in immersive virtual reality[C]//37th Annual International Confer-ence of the IEEE Engineering in Medicine and Biology Society(EMBC). Piscataway,NJ,USA:IEEE,2015:4619-4622.
[5] Boustila S,Bechmann D,Capobianco A. Effects of stereo and head tracking on distance estimation,presence,and simulator sickness usingwall screen in architectural project review[C]//2017 IEEE Symposium on 3D User Interfaces(3DUI). Piscataway,NJ,USA:IEEE,2017:231-232.
[6] So R H,Lo W T,Ho A T. Effects of navigation speed on motion sickness caused by an immersive virtual environment[J]. Human Factors,2001,43(3):452-461.
[7] Aldaba C N,White P J,Byagowi A,et al. Virtual reality body motion induced navigational controllers and their effects on simulator sicknessand pathfinding[C]//39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC). Piscataway,NJ,USA:IEEE,2017:4175-4178.
[8] Rebenitsch L,Owen C. Review on cybersickness in applications and visual displays[J]. Virtual Reality,2016,20(2):101-125.
[9] Bos J E,Bles W,Groen E L. A theory on visually induced motion sickness[J]. Displays,2008,29(2):47-57.
[10]La Valle S M,Yershova A,Katsev M,et al. Head tracking for the oculus rift[C]//2014 IEEE International Conference on Robotics and Auto-mation. Piscataway,NJ,USA:IEEE,2014:187-194.
[11]La Viola J J. A comparison of unscented and extended Kalman filtering for estimating quaternion motion[C]//American Control Conference.Piscataway,NJ,USA:IEEE,2003:2435-2440.
[12]Rhijn A V,Liere R V,Mulder J D. An analysis of orientation prediction and filtering methods for VR/AR[C]//IEEE Proceedings VR 2005Virtual Reality. Piscataway,NJ,USA:IEEE,2005:67-74.
[13]Himberg H,Motai Y. Head orientation prediction:Delta quaternions versus quaternions[J]. IEEE Transactions on Systems,Man,and Cyber-netics,Part B:Cybernetics,2009,39(6):1382-1392.
[14]Himberg H,Motai Y,Barrios C. R-adaptive kalman filtering approach to estimate head orientation for driving simulator[C]//2006 IEEE Intel-ligent Transportation Systems Conference. Piscataway,NJ,USA:IEEE,2006:851-857.
[15]Drouard V,Horaud R,Deleforge A,et al. Robust head-pose estimation based on partially-latent mixture of linear regressions[J]. IEEE Trans-actions on Image Processing,2017,26(3):1428-1440.
[16]Kang M J,Lee H Y,Kang J W. Head pose estimation using random forest and texture analysis[C]//2016 Asia-Pacific Signal and InformationProcessing Association Annual Summit and Conference. Piscataway,NJ,USA:IEEE,2016:1-4.
[17]Choi S W,Seo M W,Kang S J. Prediction-based latency compensation technique for head mounted display[C]//2016 International SoC De-sign Conference. Piscataway,NJ,USA:IEEE,2016:9-10.
[18]Horn M,Sreenivasa M,Mombaur K. Optimization model of the predictive head orientation for humanoid robots[C]//2014 IEEE-RAS Interna-tional Conference on Humanoid Robots. Piscataway,NJ,USA:IEEE,2014:767-772.
[19]Dan C,Xiuhui F,Wei D,et al. Shifted gamma distribution and long-range prediction of round trip timedelay for internet-based teleoperation[C]//2008 ROBIO 2008 IEEE International Conference on Robotics and Biomimetics. Piscataway,NJ,USA:IEEE,2009:1261-1266.
[20]魏青,崔龙.基于时延预测的遥操作机器人预测显示方法[J].机器人,2017,39(3):298-306.Wei Q,Cui L. Predictive display for telerobot based on time-delay prediction[J]. Robot,2017,39(3):298-306.
[2] Cichon T,Romann J. Robotic teleoperation:Mediated and supported by virtual testbeds[C]//2017 IEEE International Symposium on Safety,Security and Rescue Robotics(SSRR). Piscataway,NJ,USA:IEEE,2017:55-60.
[3] Rakshit S M,Banerjee S,Hempel M,et al. Fusion of VR and teleoperation for innovative near-presence laboratory experience in engineeringeducation[C]//2017 IEEE International Conference on Electro Information Technology(EIT). Piscataway,NJ,USA:IEEE,2017:376-381.
[4] White P J,Byagowi A,Moussavi Z. Effect of viewing mode on pathfinding in immersive virtual reality[C]//37th Annual International Confer-ence of the IEEE Engineering in Medicine and Biology Society(EMBC). Piscataway,NJ,USA:IEEE,2015:4619-4622.
[5] Boustila S,Bechmann D,Capobianco A. Effects of stereo and head tracking on distance estimation,presence,and simulator sickness usingwall screen in architectural project review[C]//2017 IEEE Symposium on 3D User Interfaces(3DUI). Piscataway,NJ,USA:IEEE,2017:231-232.
[6] So R H,Lo W T,Ho A T. Effects of navigation speed on motion sickness caused by an immersive virtual environment[J]. Human Factors,2001,43(3):452-461.
[7] Aldaba C N,White P J,Byagowi A,et al. Virtual reality body motion induced navigational controllers and their effects on simulator sicknessand pathfinding[C]//39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC). Piscataway,NJ,USA:IEEE,2017:4175-4178.
[8] Rebenitsch L,Owen C. Review on cybersickness in applications and visual displays[J]. Virtual Reality,2016,20(2):101-125.
[9] Bos J E,Bles W,Groen E L. A theory on visually induced motion sickness[J]. Displays,2008,29(2):47-57.
[10]La Valle S M,Yershova A,Katsev M,et al. Head tracking for the oculus rift[C]//2014 IEEE International Conference on Robotics and Auto-mation. Piscataway,NJ,USA:IEEE,2014:187-194.
[11]La Viola J J. A comparison of unscented and extended Kalman filtering for estimating quaternion motion[C]//American Control Conference.Piscataway,NJ,USA:IEEE,2003:2435-2440.
[12]Rhijn A V,Liere R V,Mulder J D. An analysis of orientation prediction and filtering methods for VR/AR[C]//IEEE Proceedings VR 2005Virtual Reality. Piscataway,NJ,USA:IEEE,2005:67-74.
[13]Himberg H,Motai Y. Head orientation prediction:Delta quaternions versus quaternions[J]. IEEE Transactions on Systems,Man,and Cyber-netics,Part B:Cybernetics,2009,39(6):1382-1392.
[14]Himberg H,Motai Y,Barrios C. R-adaptive kalman filtering approach to estimate head orientation for driving simulator[C]//2006 IEEE Intel-ligent Transportation Systems Conference. Piscataway,NJ,USA:IEEE,2006:851-857.
[15]Drouard V,Horaud R,Deleforge A,et al. Robust head-pose estimation based on partially-latent mixture of linear regressions[J]. IEEE Trans-actions on Image Processing,2017,26(3):1428-1440.
[16]Kang M J,Lee H Y,Kang J W. Head pose estimation using random forest and texture analysis[C]//2016 Asia-Pacific Signal and InformationProcessing Association Annual Summit and Conference. Piscataway,NJ,USA:IEEE,2016:1-4.
[17]Choi S W,Seo M W,Kang S J. Prediction-based latency compensation technique for head mounted display[C]//2016 International SoC De-sign Conference. Piscataway,NJ,USA:IEEE,2016:9-10.
[18]Horn M,Sreenivasa M,Mombaur K. Optimization model of the predictive head orientation for humanoid robots[C]//2014 IEEE-RAS Interna-tional Conference on Humanoid Robots. Piscataway,NJ,USA:IEEE,2014:767-772.
[19]Dan C,Xiuhui F,Wei D,et al. Shifted gamma distribution and long-range prediction of round trip timedelay for internet-based teleoperation[C]//2008 ROBIO 2008 IEEE International Conference on Robotics and Biomimetics. Piscataway,NJ,USA:IEEE,2009:1261-1266.
[20]魏青,崔龙.基于时延预测的遥操作机器人预测显示方法[J].机器人,2017,39(3):298-306.Wei Q,Cui L. Predictive display for telerobot based on time-delay prediction[J]. Robot,2017,39(3):298-306.