Redirected Walking in Static and Dynamic Scenes Using Visibility Polygons

  title={Redirected Walking in Static and Dynamic Scenes Using Visibility Polygons},
  author={Niall L. Williams and Aniket Bera and D. Manocha},
  journal={IEEE transactions on visualization and computer graphics},
We present a new approach for redirected walking in static and dynamic scenes that uses techniques from robot motion planning to compute the redirection gains that steer the user on collision-free paths in the physical space. Our first contribution is a mathematical framework for redirected walking using concepts from motion planning and configuration spaces. This framework highlights various geometric and perceptual constraints that tend to make collision-free redirected walking difficult. We… Expand

Figures and Tables from this paper


Optimizing Constrained-Environment Redirected Walking Instructions Using Search Techniques
The algorithm developed here, FORCE, identifies collision-free paths by using a map of the tracking area's shape and obstacles, in addition to a multistep, probabilistic prediction of the user's virtual path through a known virtual environment. Expand
Redirected Walking Strategies in Irregularly Shaped and Dynamic Physical Environments
This work introduces novel approaches that adapt RDW algorithms to support irregularly shaped and dynamic physical environments and techniques for representing irregularlyshaped and dynamicPhysical environments that can improve performance ofRDW algorithms. Expand
Comparing Four Approaches to Generalized Redirected Walking: Simulation and Live User Data
  • E. Hodgson, E. Bachmann
  • Computer Science, Medicine
  • IEEE Transactions on Visualization and Computer Graphics
  • 2013
Results indicated that Steer-to-Center out-performed all other algorithms relative to these metrics and also performed well in some circumstances, including Steer -to-Orbit, which performed well under live-user navigation conditions. Expand
A General Reactive Algorithm for Redirected Walking Using Artificial Potential Functions
This work presents Push/Pull Reactive (P2R), a novel algorithm that uses an artificial potential function to steer users away from potential collisions and demonstrates that the proposed approach outperforms the previous state-of-the-art reactive algorithm in non-convex spaces with and without interior obstacles. Expand
Planning redirection techniques for optimal free walking experience using model predictive control
A generalized approach to planning and applying redirection techniques (RETs) is presented and is able to reduce the number of collisions with the room boundaries by 41 % and furthermore reduces the amount of applied redirections significantly. Expand
Redirected Walking
This dissertation develops Redirection, discusses its theoretical and physiological underpinnings, and presents results to show that it can be used to make the user turn themselves, without causing the user to be aware of Redirection and without unacceptably increasing the user's level of simulator sickness. Expand
Reactive Alignment of Virtual and Physical Environments Using Redirected Walking
  • Jerald Thomas, E. S. Rosenberg
  • Computer Science
  • 2020 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)
  • 2020
This work proposes a novel reactive algorithm that uses redirected walking techniques to transition the system from a misaligned state to an aligned state, thereby enabling the user to interact with the physical environment. Expand
Motion Planning in Dynamic Environments Using Velocity Obstacles
This paper presents a method for robot motion planning in dynamic environments. It consists of selecting avoidance maneuvers to avoid static and moving obstacles in the velocity space, based on theExpand
Effects of Tracking Area Shape and Size on Artificial Potential Field Redirected Walking
Results show the ability of APF-RDW to steer effectively in irregular concave shaped tracking areas such as L-shaped rooms or crosses, along with scalable multi-user support, and better performance than STC algorithms in almost all conditions. Expand
ITOMP: Incremental Trajectory Optimization for Real-Time Replanning in Dynamic Environments
We present a novel optimization-based algorithm for motion planning in dynamic environments. Our approach uses a stochastic trajectory optimization framework to avoid collisions and satisfyExpand