Advertisement

Improving the Visual Comfort of Virtual Reality Telepresence for Robotics

  • Harvey Cash
  • Tony J. PrescottEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11876)

Abstract

Telepresence technologies enable users to exhibit a presence in a remote location, through the use of sensors, networks and robotics. State-of-the-art telepresence research swaps conventional desktop monitors for Virtual Reality (VR) headsets, in order to increase the user’s immersion in the remote environment, though often at the cost of increased nausea and oculomotor discomfort. We describe a novel method for telepresence via VR, aimed at improving comfort, by accounting for discrepancies between robot and user head pose. This is achieved through a “decoupled” image projection technique, whereby the user is able to look across captured imagery rendered to a virtual display plane. Evaluated against conventional projection techniques, in a controlled study involving 19 participants, decoupled image projection significantly reduced mean perceived nausea and oculomotor discomfort while also improving immersiveness and the perceived sensation of presence.

Keywords

Robot telepresence Virtual reality Visual comfort 

References

  1. 1.
    Aykut, T., et al.: A stereoscopic vision system with delay compensation for 360 [degree] remote reality. In: Proceedings of the on Thematic Workshops of ACM Multimedia, October 2017.  https://doi.org/10.1145/3126686.3126751
  2. 2.
    Kolasinski, E.M.: Simulator sickness in virtual environments (technical report 1027). Technical report U.S. Army Research Institute - Behavioural and Social Science (1995)Google Scholar
  3. 3.
    Kennedy, R.S., et al.: Simulator sickness questionnaire: an enhanced method for quantifying simulator sickness. Int. J. Aviat. Psychol. 3, 203–220 (1993)CrossRefGoogle Scholar
  4. 4.
    Slater, M., Usoh, M.: An experimental exploration of presence in virtual environments. Technical report 689. University College London, Department of Computer Science, pp. 3–4 (1993)Google Scholar
  5. 5.
    Marc, L., et al.: Visual discomfort and visual fatigue of stereoscopic displays: a review. J. Imaging Sci. Tech. 53, 30201-1–30201-14 (2009)Google Scholar
  6. 6.
    Martinez-Hernandez, U., Boorman, L.W., Prescott, T.J.: Telepresence: immersion with the iCub humanoid robot and the oculus rift. In: Wilson, S.P., Verschure, P.F.M.J., Mura, A., Prescott, T.J. (eds.) LIVINGMACHINES 2015. LNCS (LNAI), vol. 9222, pp. 461–464. Springer, Cham (2015).  https://doi.org/10.1007/978-3-319-22979-9_46CrossRefGoogle Scholar
  7. 7.
    Consequential Robotics. MiRo Project. http://consequentialrobotics.com/miro/. Accessed 12 Feb 2018
  8. 8.
    Weech, S., Barnett-Cowan, M., Kenny, S.: Presence and cybersickness in virtual reality are negatively related: a review. Front. Psychol. 10, 158 (2019). https://www.frontiersin.org/article/10.3389/fpsyg.2019.00158.  https://doi.org/10.3389/fpsyg.2019.00158

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Computer Science and Sheffield RoboticsThe University of SheffieldSheffieldUK

Personalised recommendations