NDLI: Precision Position Tracking in Virtual Reality Environments using Sensor Networks

Content Provider	IEEE Xplore Digital Library
Author	Gulrez, T. Kavakli, M.
Copyright Year	2007
Description	Author affiliation: Macquarie Univ., Sydney (Gulrez, T.; Kavakli, M.)
Abstract	In an immersive interactive virtual reality (VR) environment a real human can be incorporated into a virtual 3D scene to navigate a robotic device within that virtual scene. This has useful applications in rehabilitation. The non-destructive nature of VR makes it an ideal testbed for many applications and a prime candidate for use in rehabilitation robotics simulation. The key challenge is to accurately localise the movement of the object in reality and map its corresponding position in 3D VR. To solve the localisation problem we have formed an online mode vision sensor network, which tracks the object's real Euclidean position and sends the information back to the VR scene. A precision position tracking (PPT) system has been installed to track the object. We have previously presented the solution to the sensor relevance establishment problem where from a group of sensors the most relevant sensing action is obtained. In this paper we apply the same technique to the VR system. The problem can be broken down in two steps. In step one, the relevant sensor type is discovered based upon the IEEE 1451.4 Transducers Electronic Data Sheets (TEDS) description model. TEDS is used to discover the sensor types, their geographical locations, and additional information such as uncertainty measurement functions and information fusion rules necessary to fuse multi-sensor data. In step two, the most useful sensor information is obtained using the Kullback-Leibler Divergence (KLD) method. In this study we conduct two experiments that address the localisation problem. In the first experiment a VR 3D environment is created using the realtime distributed robotics software Player/Stage/Gazebo and a simulated PPT camera system is used to localise a simulated autonomous mobile robot within the 3D environment. In the second experiment, a real user is placed in a cave-like VR 3D environment and a real PPT camera system is used to localise the user's physical actions in reality. The physical actions of the real user are then used to control the robotic device in VR.
Starting Page	1997
Ending Page	2003
File Size	1135702
Page Count	7
File Format	PDF
ISBN	9781424407545
DOI	10.1109/ISIE.2007.4374914
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-04
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Virtual reality Layout Robot sensing systems Rehabilitation robotics Mobile robots Robot vision systems Cameras Navigation Human robot interaction Nondestructive testing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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