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• Three I’s
Interactivity
Imagination
Interactivity
Body motion, sensing suits, hand
gestures, visual feedbacks etc
Hardware
Trackers
3D object
Position
Orientation
The special-purpose hardware used in VR
to measure the real time change in a 3D
object position and orientation
roll
Virtual objects have 6 degrees
of freedom (D.O.Fs):
-three translations;
-three rotations.
pitch
yaw
3-D System of coordinates of a VR object
Tracker Technologies:
• Magnetic trackers (widely used);
Fixed system of
• Ultrasonic trackers (less used);
coordinates
• Mechanical trackers (special cases);
• Inertial/ultrasonic trackers (new).
• Vision-based trackers (new)
Measurement
Measurement Rate – Accuracy (errors);
Readings/sec; Tracker
Characteristics Measurement
Sensing Repeatability;
Degradation
Work Tethered or
Envelope; Wireless;
Accuracy
Resolution
Time
Actual object
position Drift
Time
Real object
position
Sensor latency
Time
• Latency is the time delay between action and result. It is
the time between the change in object position/orientation
and the time the sensor detects this change.
• Communication time delay between host & time needed for the
computer to render and display the scene
Nazrul Azha Mohamed Shaari
CSC573 Input Devices
• 3-D Position Trackers
• Update rate;
Mechanical
Ultrasonic
Type of trackers
less used
Optical
Hybrid Inertial
new
new
Kinematics
Link computational Position &
determine
segment model in orientation
computer
Pros: Cons:
• Use sensors imbedded in • But limit the user’s freedom
exoskeletons to measure of motion;
position; • Can be heavy is worn on the
• Have extremely low body
latencies;
• Are immune to interference
from magnetic fields and
large metal objects;
Exoskeleton Interface
structure With
computer
TRANSMITTER
Non-contact
position
measurement RECEIVER
Magnetic
trackers
moving
Sensors: 20/suit
100 updates/sec
3 meters range
from base unit Electronic unit
Resolution<2 mm (2 hours battery life)
and <.2 degrees 1.7 kg (3.8 lb)
TRANSMITTER
Contact
position RECEIVER
measurement
Ultrasonic
trackers moving
Large-volume
ultrasonic tracker
(Logitech)
Lateral effect
photo diodes
6 photodiodes
6 optical lenses
Signal conditioning
electronics
measure
utilizes
2 or more
position
System Hybrid measurement
trackers technologies
Objects
I-Cube
Accel./gyro