• 한국감성과학회:학술대회논문집
• /
• 한국감성과학회 2002년도 춘계학술대회 논문집
• /
• pp.107-113
• /
• 2002

We examined the psychophysiological effects of navigation in a virtual reality (VR). Subjects were exposed to the VR, and required to detect specific objects. Ten electrophysiological signals were recorded before, during, and after navigation in the VR. Six questionnaires on the VR experience were acquired from 45 healthy subjects. There were significant changes between the VR period and the pre-VR control period in several psychophysiological measurements. During the VR period, eye blink, skin conductance level, and alpha frequency of EEG were decreased but gamma wave were increased. Physiological changes associated with cybersickness included increased heart rate, eye blink, skin conductance response, and gamma wave and decreased photoplethysmogram and skin temperature. These results suggest an attentional change during VR navigation and activation of the autonomic nervous system for cybersickness. These findings would enhance our understanding for the psychophysiological changes during VR navigation and cybersickness.

• 디자인학연구
• /
• 제16권4호
• /
• pp.25-36
• /
• 2003

3차원 가상 공간에서의 네비게이션은 복잡한 인지 과정을 이해하고 미리 면밀히 설정되어야 하는 과정이다. 상호작용적 3차원 영상의 대중화 시대를 맞아 현재의 다양한 데스크 탑 소프트웨어는 개발자에게 보다 쉬운 저작 환경을 제공하고 있지만 사실 그동안의 체계적 개념 연구는 여건이 갖추어진 특정 기관에 국한되어 이루어져 온 것이 현실이다. 따라서 본 논고에서는 그 간에 대학 및 업체에서 연구 발표한 가상현실 연구의 사례들을 중심으로 보다 창의적인 네비게이션 구현에 근간이 되는 주요 개념들과 네비게이션의 구체적 구현을 지원 해줄 수 있는 직접적 및 간접적 요소들을 분석 및 고찰하고 있다.

• 디지털콘텐츠학회 논문지
• /
• 제9권4호
• /
• pp.569-581
• /
• 2008

본 논문에서는 윈도우 환경을 기반으로 하는 가상현실이나 게임에서 사용되는 네비게이션 메쉬(navigation mesh)에서 곡선을 생성하는 기법을 제안한다. 윈도우 환경을 기반으로 하는 가상현실이나 게임에서 주로 사용되는 지형 생성 방식에는 그리드(grid) 방식과 네비게이션 메쉬 방식이다. 그리드 방식은 지형을 생성할 때 격자를 이용함으로 자연스러운 지형을 생성하기 어렵다. 또한 정밀한 묘사를 위해서는 많은 수의 격자가 필요하여 시스템에 부담을 준다. 이러한 문제를 해결하기 위해 네비게이션 메쉬가 등장하였으며, 네비게이션 메쉬는 그리드 방식에 비해 시스템에 부담을 주지 않는다는 장점이 있다. 그러나 이러한 네비게이션 메쉬에서 캐릭터가 이동하게 되면 부자연스럽게 움직이게 되는 문제가 발생한다. 캐릭터의 부자연스러운 이동 문제를 해결하기 위해 본 논문에서는 구형 곡선을 이용한 곡선생성 기법을 제안한다. 본 논문에서 제안한 구형 곡선 생성 기법을 윈도우 기반 가상현실이나 게임에 이용하면 캐릭터가 자연스럽게 이동할 수 있는 장점이 있다.

• 한국컴퓨터정보학회논문지
• /
• 제12권4호
• /
• pp.53-59
• /
• 2007

저 사양 HMD(Head Mounted Display)를 사용하는 가상 환경 네비게이션 시스템은 true-color 이미지를 제한 된 색으로 표현 할 때 이미지를 양자화 해야 한다. 그러한 시스템은 고정된 팔래트를 이용하여 이미지를 양자화 한다. 인간의 눈은 시선부분의 색변화에 민감하기 때문에 시선부분의 색을 고려하여 동적으로 팔래트를 생성하고 이를 이용하여 이미지를 양자화 한다면 사용자는 가상 환경을 보다 생동감 있게 느낄 수 있다. 본 논문에서는 사용자가 가상환경을 보다 생동감 있게 느끼게 하기 위한 컬러 양자화 방법을 제안하고 제안 방법을 이용하여 가상환경 네비게이션 시스템을 구성하였다. 네비게이션 시스템은 사용자의 시선이 변할 때 마다 이미지를 양자화 하여 HMD를 통해 사용자에게 양자화된 이미지를 보여준다. 본 논문에서는 제안 방법을 이용한 시스템의 선호도를 조사 하였으며 대부분의 사용자가 제안 방법을 이용한 시스템을 선호 하였다.

• 전기학회논문지
• /
• 제65권10호
• /
• pp.1738-1745
• /
• 2016

In this paper, we present localization and autonomous navigation method using GPU(Graphics Processing Unit)-based SIFT(Scale-Invariant Feature Transform) algorithm and virtual force method for mobile robots. To do this, at first, we propose the localization method to recognize the landmark using the GPU-based SIFT algorithm and to update the position using extended Kalman filter. And then, we propose the A-star algorithm for path planning and the virtual force method for autonomous navigation of the mobile robot. Finally, we demonstrate the effectiveness and applicability of the proposed method through some experiments using the mobile robot with OPRoS(Open Platform for Robotic Services).

• 한국멀티미디어학회논문지
• /
• 제19권3호
• /
• pp.539-547
• /
• 2016

Automated guided vehicles (AGVs) are widely used in industry. Several types of vision-based AGVs have been studied in order to reduce cost of infrastructure building at floor of workspace and to increase flexibility of changing the navigation path layout. A practical vision-based guideline tracing method is proposed in this paper. A virtual tracing wheel is introduced and adopted in this method, which enables a vision-based AGV to trace a guideline in diverse ways. This method is also useful for preventing damage of the guideline by enforcing the real steering wheel of the AGV not to move on the guideline. Usefulness of the virtual tracing wheel is analyzed through computer simulations. Several navigation tests with a commercial AGV were also performed on a usual guideline layout and we confirmed that the virtual tracing wheel based tracing method could work practically well.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1430-1434
• /
• 2004

Recently, Virtual reality parts is applied in various fields of industry. In this paper we developed basic components for virtual robot control system interfaced with real environment. For this, a real robot with virtual interface module is developed and virtual robot of similar image with real robot is created by putting on 3D graphic texture to the real robot. To build an unknown environment to be linked with virtual environment, we proposed a hough transformation based algorithm. Our proposed algorithm consists of navigation module by using fuzzy engine and map building module. Experiments using a developed robot illustrate the method.

• 대한의용생체공학회:의공학회지
• /
• 제24권2호
• /
• pp.69-75
• /
• 2003

Virtual colonoscopy is one of the Powerful tool for non-invasive colon examination and many in-vitro and in-vivo studies have shown its accuracy in Polyp or adenoma detection. But most of virtual colonoscopy requires high quality workstation and software and its cost is high to setup whole system. We developed PC-based 3D model creation and navigation program which has diverse functions. It can be easily installed to PC and connected to network system. The performance. when used as a virtual colonoscopy. is evaluated by calculating sensitivity of detection for the simulated polyp which is artificially made inside the Pig's colon and checked its clinical feasibility, Its total sensitivity is 76%. Grouping according to Polyps diameter, the sensitivity for detection of polyps 10 ㎜ or larger was 100%(40 of 40); 5.0-9.9 ㎜, 90.0(90 of 100): and smaller then 5 ㎜. 36.7%(22 of 60).

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 1999년도 추계학술대회논문집
• /
• pp.315-320
• /
• 1999

Obstacle Detection System(ODS) is a essential system for automated vehicle, such as AGV(Automatic Guided Vehicle), mobile robot. Automated vehicle must have a capability to detect and to avoid obstacles to guarantee a safe driving condition. To implement obstacle detection system, virtual bumper concept adapted. Like real bumper in a car, such as in the truck, it protects vehicle from collision using laser distance sensor. When an obstacle(such as other vehicle, building, etc) intrudes this virtual bumper area, a virtual force is calculated and produces necessary strategy to be able to avoid collision. In this paper, simplified virtual bumper concept is presented, and various problems when happens to implement are discussed.

• 한국HCI학회:학술대회논문집
• /
• 한국HCI학회 2006년도 학술대회 2부
• /
• pp.633-638
• /
• 2006

We investigated the importance and efficiency of active and passive exploration on the recognition of objects in a variety of virtual environments (VEs). In this study, 54 participants (19 males and 35 females) were randomly allocated into one of two navigation conditions (active and passive navigation). The 3D visual display was presented through HMD and participants used joysticks to navigate VEs. The VEs consisted of exploring four rooms (library, office, lounge, and conference room), each of which had 15 objects. 'Active navigation' was performed by allowing participants to self-pace and control their own navigation within a predetermined time limitation for each room. 'Passive navigation' was conducted by forced navigation of the four rooms in random order. Total navigation duration and objects for both navigations were identical. After navigating VEs, participants were asked to recognize the objects that had been in the four rooms. Recognition for objects was measured by response time and the percentage of correct, false, hit, and miss responses. Those in the active navigation condition had a significantly higher percentage of hit responses (t (52) = 4.000 p < 0.01), and a significantly lower percentage of miss responses (t (52) = -3.763, p < 0.01) in object recognition than those in the passive condition. These results suggest that active navigation plays an important role in spatial cognition as well as providing a better explanation about the efficiency of learning in a 3D-based program.