Course

Unit 1

Introduction to virtual and augmented reality, features of VR, mental aspects of VR experience, reality-virtuality continuum, features of AR compared to VR, subsystems of AR and VR, visual perception, stereo vision, perpetual aspects of VR- Depth perception, motion perception and colour perception, preparation of 3D models for VR/AR -3D rotation inverses and conversions, homogeneous transforms, transforms to displays, look-at and eye transforms, canonical view and viewport transforms, optimization techniques for 3D objects, light, sound and background. Graphical rendering, ray tracing, shading, BRDFs, rasterization, barycentric coordinates, VR rendering problems, anti- aliasing, distortion shading, image warping (time warp), panoramic rendering.

Unit 2

VR/AR Input devices and tracking, tracking techniques – marker based, camera based tracking – Intrinsic and Extrinsic Camera Parameters, feature based tracking methods, finger and eye tracking -methods- image processing for eye tracking,calibration, head-mounted displays , mechanical input devices. VR/AR output devices- head mounted displays

-open and closed – characteristics and properties of HMDs, VR and AR glasses, stationary VR systems,stereo output methods. Audio and haptic output devices.

Unit 3

Interaction with virtual world, interaction design, navigation, control techniques, human centered design for AR/VR interaction, real time aspects of AR systems -collision detection.

Case Studies: Traditional and emerging VR/AR applications in manufacturing- decision support system for integrating real-time manufacturing control with a virtual environment, virtual assembly/disassembly system using natural human interaction and control, the intelligent welding gun: augmented reality for experimental vehicle construction. Training Implementation. Touch, haptics and robotic interfaces, telepresence and Brain-machine interfaces.

Course Objectives

• Provide an overview of the opportunities in the development of VR/AR applications with a multimodal perspective and approach.
• Demonstrate the principles and multidisciplinary features of virtual reality.
• Demonstrate the VR/AR system framework and development tools.

Course Outcomes

Skills Acquired

Selection of AR/VR tools for the given application and its Implementation for automation applications.

1. Ralf Doerner, Wolfgang Broll, Paul Grimm,    Bernhard Jung, “Virtual and Augmented Reality (VR/AR) Foundations and Methods of Extended Realities (XR)”, Springer, 2022.
2. Steven LaValle, Virtual Reality, Cambridge University Press, 2016.
3. William R Sherman and Alan B Craig, “Understanding Virtual Reality: Interface, Application and Design, , (The Morgan Kaufmann Series in Computer Graphics)”. Morgan Kaufmann Publishers, San Francisco, CA, 2002 .
4. K. Ong and A.Y.C. Nee, ”Virtual and Augumented Reality applications in manufacturing”, Springer, 2004.