Analysis of Uncertainty in Local and Telecollaborative Virtual Reality Applications in Design and Manufacturing

设计和制造中本地和远程协作虚拟现实应用的不确定性分析

• 批准号: 9988136
• 负责人: Pat Banerjee
• 金额: $ 24.92万
• 依托单位: University of Illinois at Chicago
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2000
• 资助国家: 美国
• 起止时间: 2000-10-01 至 2005-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9988136&HistoricalAwards=false
• 关键词: Analysis; Uncertainty; Local; Telecollaborative; Virtual

This grant provides funding for a framework for estimating, in advance, the probability of the user's ability to successfully execute an operation on an object in a virtual reality environment (e.g. picking, placing, pressing, holding, drive-through, fly-through), given the current positional and temporal uncertainties based on design (controllable) and noise (uncontrollable) factors in the environment. The positional and temporal uncertainties are characterized. For positional uncertainty analysis a six-element pose vector (three for position and three for orientation along three cartesian coordinate axes) is used, and for temporal uncertainty a six-element state vector (three for position and three for velocity) is used. A 6x6 covariance matrix, which is the expectation of the square of the difference between the pose or state estimate and the true vector, is proposed to characterize the uncertainty. A useful interpretation of the covariance matrix can be obtained by assuming that the errors are jointly Gaussian. The research project is to iteratively predict the covariance matrix and correct it by fusing new sensor measurements as they arrive by minimizing the geometric volume of the ellipsoid of uncertainty among all possible linear combinations of sensory information.If successful, the results of this research will improve the understanding of nominal object size threshold for virtual environments, nominal user interaction speed threshold, and probability densities of virtual analysis task outcomes, which can then be used to more accurately estimate the cost projections. A utility function for expressing user attitude in virtual environment in light of the embedded uncertainties is possible based on the results. The uncertainty analysis will be able to address design factors such as: object boundary interpretation errors, real environment-virtual environment mapping/registration errors, blind spots and occlusions, and low frame rate errors and errors that occur because of fast movement of user or object.

该赠款为一个框架提供资金，该框架用于提前估计用户在虚拟现实环境中成功对对象执行操作（例如拾取、放置、按压、保持、驾车穿过、飞越）的能力的概率，考虑到基于环境中的设计（可控）和噪声（不可控）因素的当前位置和时间不确定性。 描述了位置和时间不确定性。 对于位置不确定性分析，使用六元素位姿向量（三个用于位置，三个用于沿三个笛卡尔坐标轴的方向），对于时间不确定性，使用六元素状态向量（三个用于位置，三个用于速度）。 提出了一个 6x6 协方差矩阵来表征不确定性，该矩阵是位姿或状态估计与真实向量之间差异的平方的期望。 通过假设误差呈联合高斯分布，可以获得协方差矩阵的有用解释。 该研究项目是迭代地预测协方差矩阵，并通过在传感器到达时融合新的传感器测量值，通过最小化所有可能的感官信息线性组合中不确定性椭球体的几何体积来对其进行校正。如果成功，这项研究的结果将提高对虚拟环境的标称对象大小阈值、标称用户交互速度阈值和虚拟分析任务结果的概率密度的理解，然后可以 用于更准确地估计成本预测。 基于结果，可以根据嵌入的不确定性来表达虚拟环境中用户态度的效用函数。 不确定性分析将能够解决设计因素，例如：对象边界解释错误、真实环境-虚拟环境映射/配准错误、盲点和遮挡、低帧率错误以及由于用户或对象快速移动而发生的错误。