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"abstract": "Many Web pages contain textual descriptions about locations such as addresses, phone numbers, landmarks, and names. These location-related descriptions are valuable geospatial information for business applications. Therefore, the Web can be perceived as a large geospatial database that could provide up-to-date data for Geographic Information Systems (GIS). Currently this rich and frequently updated Web geospatial information is underutilized. Most related work has been focused on identifying and extracting location names from Web pages for the purpose of page indexing. Little research has been found on extracting and using various types of Web geospatial information for enterprise GIS applications. This paper tries to fill the gap by (1) proposing new algorithms for retrieving different types of geospatial information on Web pages and resolving location name ambiguity issues; (2) exploring how GIS can leverage extracted Web geospatial data for enterprise applications.",
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"abstract": "Sharing and integrating geospatial resources (geo-data and geo-processing) in opening web environment is a challenge for GISystem. This paper discusses a geospatial information processing concept model complied interoperable system framework and an implementation approach for accessing geospatial information openly by chaining individual service module to assemble complex geospatial processing and executing the processing model to deliver information to the users under service oriented architecture (SOA) and open GIS consortium (OGC) standard. Processing concept model provides a mechanism to unify the representation of geospatial data, information and knowledge. OGC web processing service (WPS) is employed and extended for processing raster data (remote sensing images). Implementation of processing model and OGC complied geospatial information services shows that the framework supports: standard-based geospatial data and services discovery and access; geospatial web services chaining, binding, and executing based on workflow.",
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"content": "In the Scrum process, Product Backlog consists of a prioritized list of desired software functionalities recorded in the form of user stories. As the software product is developed, new functionalities are discovered and included in the Product Backlog. However, in large-scale projects, duplicate stories may arise because of the large number of generated stories, the lack of communication among team members, and due to the speed of development imposed by the Scrum process. In this case, it is important to detect such story as being duplicate, in order to avoid the rework of the software feature. This paper presents an approach that uses semantic similarity measures to suggest possible cases of duplication between user stories. This alert can help Product Owners and Scrum Masters in the decision about excluding duplicate user stories from the Product Backlog.",
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"content": "GitHub facilitates software development practices that encourage collaboration and communication. Part of GitHub's model includes forking, which enables users to make changes on a copy of the base repository. The process of forking opens avenues of communication between the users from the base repository and the users from the forked repositories. Since forking on GitHub is a common mechanism for initiating repositories, we are interested in how communication between a repository and its forks (forming a software family) relates to stars. In this paper, we study communications within 385 software families comprised of 13,431 software repositories. We find that the fork depth, the number of users who have contributed to multiple repositories in the same family, the number of followers from outside the family, familial pull requests, and reported issues share a statistically significant relationship with repository stars. Due to the importance of issues and pull requests, we identify and compare common topics in issues and pull requests from inside the repository (via branching) and within the family (via forking). Our results offer insights into the importance of communication within a software family, and how this leads to higher individual repository star counts.",
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"normalizedAbstract": "GitHub facilitates software development practices that encourage collaboration and communication. Part of GitHub's model includes forking, which enables users to make changes on a copy of the base repository. The process of forking opens avenues of communication between the users from the base repository and the users from the forked repositories. Since forking on GitHub is a common mechanism for initiating repositories, we are interested in how communication between a repository and its forks (forming a software family) relates to stars. In this paper, we study communications within 385 software families comprised of 13,431 software repositories. We find that the fork depth, the number of users who have contributed to multiple repositories in the same family, the number of followers from outside the family, familial pull requests, and reported issues share a statistically significant relationship with repository stars. Due to the importance of issues and pull requests, we identify and compare common topics in issues and pull requests from inside the repository (via branching) and within the family (via forking). Our results offer insights into the importance of communication within a software family, and how this leads to higher individual repository star counts.",
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"Data Mining",
"Public Domain Software",
"Software Engineering",
"Software Families",
"Software Repositories",
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"Pull Requests",
"Repository Stars",
"Forking",
"Git Hub Software Repositories",
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"Software",
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"affiliation": "University of Toronto,Toronto,Canada",
"fullName": "Scott Brisson",
"givenName": "Scott",
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{
"affiliation": "University of Toronto,Toronto,Canada",
"fullName": "Ehsan Noei",
"givenName": "Ehsan",
"surname": "Noei",
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{
"affiliation": "University of Toronto,Toronto,Canada",
"fullName": "Kelly Lyons",
"givenName": "Kelly",
"surname": "Lyons",
"__typename": "ArticleAuthorType"
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"abstract": "Hardware performance counters are special registers on processors that track the hardware activities. While the performance counter data are useful for many applications, there are challenges in efficiently collecting many event statistics simultaneously, due to the limited number of performance counters on chip. We propose an efficient hardware performance counter design that uses approximate-counting algorithms to improve the number of events tracked on-chip without incurring significant memory overhead. These counters are more memory efficient because they increment counts according to a dynamic probability and approximate the exact counts. Compared with multiplexed hardware performance counters, our approximate hardware counters have a statistically provable memory-accuracy trade-off and are entirely managed in hardware.",
"abstracts": [
{
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"content": "Hardware performance counters are special registers on processors that track the hardware activities. While the performance counter data are useful for many applications, there are challenges in efficiently collecting many event statistics simultaneously, due to the limited number of performance counters on chip. We propose an efficient hardware performance counter design that uses approximate-counting algorithms to improve the number of events tracked on-chip without incurring significant memory overhead. These counters are more memory efficient because they increment counts according to a dynamic probability and approximate the exact counts. Compared with multiplexed hardware performance counters, our approximate hardware counters have a statistically provable memory-accuracy trade-off and are entirely managed in hardware.",
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"fno": "864300a226",
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"affiliation": "University of California,Berkeley",
"fullName": "Jingyi Xu",
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"affiliation": "University of California,Berkeley",
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"affiliation": "University of California,Berkeley",
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"affiliation": "University of California,Berkeley",
"fullName": "Yakun Sophia Shao",
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"proceeding": {
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"article": {
"id": "1y2JQqLgwwg",
"doi": "10.1109/REW53955.2021.00033",
"title": "Cases for Explainable Software Systems: Characteristics and Examples",
"normalizedTitle": "Cases for Explainable Software Systems: Characteristics and Examples",
"abstract": "The need for systems to explain behavior to users has become more evident with the rise of complex technology like machine learning or self-adaptation. In general, the need for an explanation arises when the behavior of a system does not match the user’s expectations. However, there may be several reasons for a mismatch including errors, goal conflicts, or multi-agent interference. Given the various situations, we need precise and agreed descriptions of explanation needs as well as benchmarks to align research on explainable systems. In this paper, we present a taxonomy that structures needs for an explanation according to different reasons. We focus on explanations to improve the user interaction with the system. For each leaf node in the taxonomy, we provide a scenario that describes a concrete situation in which a software system should provide an explanation. These scenarios, called explanation cases, illustrate the different demands for explanations. Our taxonomy can guide the requirements elicitation for explanation capabilities of interactive intelligent systems and our explanation cases build the basis for a common benchmark. We are convinced that both, the taxonomy and the explanation cases, help the community to align future research on explainable systems.",
"abstracts": [
{
"abstractType": "Regular",
"content": "The need for systems to explain behavior to users has become more evident with the rise of complex technology like machine learning or self-adaptation. In general, the need for an explanation arises when the behavior of a system does not match the user’s expectations. However, there may be several reasons for a mismatch including errors, goal conflicts, or multi-agent interference. Given the various situations, we need precise and agreed descriptions of explanation needs as well as benchmarks to align research on explainable systems. In this paper, we present a taxonomy that structures needs for an explanation according to different reasons. We focus on explanations to improve the user interaction with the system. For each leaf node in the taxonomy, we provide a scenario that describes a concrete situation in which a software system should provide an explanation. These scenarios, called explanation cases, illustrate the different demands for explanations. Our taxonomy can guide the requirements elicitation for explanation capabilities of interactive intelligent systems and our explanation cases build the basis for a common benchmark. We are convinced that both, the taxonomy and the explanation cases, help the community to align future research on explainable systems.",
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"Learning Artificial Intelligence",
"Multi Agent Systems",
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"authors": [
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"affiliation": "University of Cologne,Software and Systems Engineering,Cologne,Germany",
"fullName": "Mersedeh Sadeghi",
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"affiliation": "Universität Berlin,Software and Embedded Systems Engineering Technische,Berlin,Germany",
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"affiliation": "University of Cologne,Software and Systems Engineering,Cologne,Germany",
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"abstract": "A curve approximation technique using quadratic B-splines is presented in this paper which automatically computes data points to minimize errors. This technique can be useful for efficient storage of geometric shapes in any graphic or CAD applications. The computed data points are the control points and knots of approximating quadratic B-spline curve rather than simple interpolants. Curve approximation is a three step process, involving computation of initial data points from the opening angle plot of given curve, new knot(s) insertion at appropriate location and error minimization by changing knot positions. The algorithm is simple, efficient and robust to any curve model. Demonstrated results show that even higher degree polynomial curves can be approximated with very few data points with reasonable accuracy.",
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"content": "A curve approximation technique using quadratic B-splines is presented in this paper which automatically computes data points to minimize errors. This technique can be useful for efficient storage of geometric shapes in any graphic or CAD applications. The computed data points are the control points and knots of approximating quadratic B-spline curve rather than simple interpolants. Curve approximation is a three step process, involving computation of initial data points from the opening angle plot of given curve, new knot(s) insertion at appropriate location and error minimization by changing knot positions. The algorithm is simple, efficient and robust to any curve model. Demonstrated results show that even higher degree polynomial curves can be approximated with very few data points with reasonable accuracy.",
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"affiliation": "University of Engineering and Technology - Lahore",
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"abstract": "We develop a new approach to reconstruct non-discrete models from gridded volume samples. As a model, we use quadratic trivariate super splines on a uniform tetrahedral partition /spl Delta/. The approximating splines are determined in a natural and completely symmetric way by averaging local data samples, such that appropriate smoothness conditions are automatically satisfied. On each tetra-hedron of /spl Delta/ , the quasi-interpolating spline is a polynomial of total degree two which provides several advantages including efficient computation, evaluation and visualization of the model. We apply Bernstein-Bezier techniques well-known in CAGD to compute and evaluate the trivariate spline and its gradient. With this approach the volume data can be visualized efficiently e.g., with isosurface ray-casting. Along an arbitrary ray the splines are univariate, piecewise quadratics and thus the exact intersection for a prescribed isovalue can be easily determined in an analytic and exact way. Our results confirm the efficiency of the quasi-interpolating method and demonstrate high visual quality for rendered isosurfaces.",
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"content": "We develop a new approach to reconstruct non-discrete models from gridded volume samples. As a model, we use quadratic trivariate super splines on a uniform tetrahedral partition /spl Delta/. The approximating splines are determined in a natural and completely symmetric way by averaging local data samples, such that appropriate smoothness conditions are automatically satisfied. On each tetra-hedron of /spl Delta/ , the quasi-interpolating spline is a polynomial of total degree two which provides several advantages including efficient computation, evaluation and visualization of the model. We apply Bernstein-Bezier techniques well-known in CAGD to compute and evaluate the trivariate spline and its gradient. With this approach the volume data can be visualized efficiently e.g., with isosurface ray-casting. Along an arbitrary ray the splines are univariate, piecewise quadratics and thus the exact intersection for a prescribed isovalue can be easily determined in an analytic and exact way. Our results confirm the efficiency of the quasi-interpolating method and demonstrate high visual quality for rendered isosurfaces.",
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"Volume Data Visualization",
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"abstract": "Buffer insertion is a popular technique to reduce the interconnect delay. The classic buffer insertion algorithm of van Ginneken has time complexity O(n^2), where n is the number of buffer positions. Lillis, Cheng and Lin extended van Ginneken's algorithm to allow b buffer types in time O (b^2 n^2). For modern design libraries that contain hundreds of buffers, it is a serious challenge to balance the speed and performance of the buffer insertion algorithm. In this paper, we present a new algorithm that computes the optimal buffer insertion in O (bn^2) time. The reduction is achieved by the observation that the (Q, C) pairs of the candidates that generate the new candidates must form a convex hull. On industrial test cases, the new algorithm is faster than the previous best buffer insertion algorithms by orders of magnitude.",
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"abstract": "Due to inappropriate assignment of bump pads or improper placement of I/O buffers, the configured delays of I/O signals may not satisfy the timing requirement inside die core. In this paper, the problem of timing-constrained I/O buffer placement in an area-IO flip-chip design is firstly formulated. Furthermore, an efficient two-phase approach is proposed to place I/O buffers onto feasible buffer locations between I/O pins and bump pads with the consideration of the timing constraints. Compared with Peng's SA-based approach, with no timing constraint, our approach can reduce 71.82% of total wirelength and 55.74% of the maximum delay for 7 tested cases on the average. Under the given timing constraints, our result obtains higher timing-constrained satisfaction ratio(TCSR) than the SA-based approach.",
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"abstract": "The shading processors in graphics hardware are becoming increasingly general-purpose. We test, through simulation and benchmarking, the potential performance impact of replacing these processors with a fully general-purpose parallel processor, without the fixed-function graphics hardware legacy of current graphics processing units (GPUs). The representative general-purpose processor we test against is XMT (for eXplicit Multi-Threading), a PRAM-like single-chip parallel architecture. Performance is compared for two characteristic shaders running in a fragment-limited GPU benchmark harness and on a cycle-accurate XMT simulator. The general-purpose processor is found to be significantly faster at a compute-only shader, but slower on a memory bound texture shader. Finally we analyze the design tradeoffs that would allow combining the best of both worlds: (i) a competitive XMT texture shader, with (ii) a general-purpose easy-to-program XMT many-core approach that scales up or down to the amount of parallelism provided by the application and is even compatible with serial code.",
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"content": "Level set methods have been extensively used to track the dynamical interfaces between different materials for physically based simulation, geometry modeling, oceanic modeling and other scientific and engineering applications. Due to the inherent Eulerian characteristics, interface evolution based on level set usually suffers from numerical diffusion, sharp feature missing and mass loss. Although some effective methods such as Particle Level Set (PLS) and Marker Level Set (MLS) have been proposed to tackle these difficulties, the complicated correction process and the high computational cost pose severe limitations for real-time applications. In this paper we provide an efficient parallel implementation of the Marker Level Set method on latest graphics hardware. Each step of the MLS method is fully mapped on GPU with an innovative combination of different computation techniques. Relying on GPU's parallelism and flexible programmability, the method provides real-time performance for large size 2D examples and moderate 3D examples, which is significantly faster than previous CPU-based methods.",
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"abstract": "Texture-based volume rendering is a technique to efficiently visualize volumetric data using texture mapping hardware. In this paper we present an algorithm, that extends this approach to render shadows for the volume. The algorithm takes advantage of fast frame-buffer operations modern graphics hardware offers, but does not depend on any special purpose hardware. The visual impression of the final image is significantly improved by bringing more structure and the three-dimensional information into the often foggyish appearance of texture-based volume renderings. Although the algorithm does not perform lighting calculations, the resulting image has a shaded appearance, which is a further visual cue to spatial understanding of the data and lets the images appear more realistic. As calculating the shadows is independent of the visualization process it can be applied to any form of volume visualization, though volume rendering based on two- or three-dimensional texture mapping hardware makes the most sense. Compared to unshadowed texture-based volume rendering, performance decreases by less than 50%, which is still sufficient to guarantee interactive manipulation of the volume data. In the special case where only the camera is moving with the light position fixed to the scene there is no performance decrease at all, because recalculation has only to be done if the position of the light source with respect to the volume changes.",
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"abstract": "We describe a scheme for reliable and accurate surface reconstruction when the stereoscopic images contain only fine texture and no stable high level features. The approach uses partial shape information to improve the reliability of the surface computation process-by first fitting an approximate, global, parametric model, and then refining this model via local correspondence processes. A simple yet adequate parametric shape model is adopted, and the partial shape information is used to constrain the search for the optimal parameters. We show that even with very limited information regarding the surface shape (e.g., the surface is higher in the middle than on either side) a significant improvement is achieved, in the accuracy and reliability of the reconstruction.",
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"abstract": "Uniformly textured surfaces in 3D scenes provide important cues for image understanding. Texture can be used for both segmentation and for 3D shape inference. Unfortunately, virtually all current algorithms are based on assumptions that make it impossible to do texture segmentation and shape-from-texture in the same image. Texture segmentation algorithms rely on an absence of 3D effects that tend to distort the texture. Shape-from-texture algorithms depend on these effects, relying instead on the texture being already segmented. To really understand texture in images, texture segmentation and shape-from-texture must be viewed as a combined problem to be solved simultaneously. We present a solution to this problem with a region-growing algorithm that explicitly accounts for perspective distortions of otherwise uniform texture. We use the image spectrogram to compute local surface normals, which are in turn used to \"frontalize\" the texture. These frontalized texture patches are then subjected to a region-growing algorithm based on similarity in the local frequency domain and a minimum description length criteria. We show results of our algorithm on real texture images taken in the lab and outdoors.",
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"abstract": "As visualization researchers, we are interested in gaining a better understanding of how to effectively use texture to facilitate shape perception. If we could design the ideal texture pattern to apply to an arbitrary smoothly curving surface in order to enable its 3D shape to be most accurately and effectively perceived, what would the characteristics of that texture pattern be? In this paper we describe the results of a comprehensive controlled observer experiment intended to yield insight into that question. In previous studies, using a surface attitude probe adjustment task, we had found that judgments of shape under conditions of anisotropic texturing were most accurate when the directions(s) of anisotropy were aligned with one or both of the principal directions of curvature over the surface, as opposed to being aligned with an arbitrary constant direction over the surface, or with a direction that varied over the surface in a manner unrelated to the surface geometry. However, many open questions remained. Here we report the results of a new study comparing the relative accuracy of observers' judgments of shape type (elliptical, cylindrical, hyperbolic or flat) and shape orientation (convex, concave, both, or neither) for local views of boundary masked quadric surface patches under six different principal direction texture pattern conditions plus two control texture conditions (an isotropic pattern and a non-principal direction oriented anisotropic pattern), under both perspective and orthographic projection conditions and from both head-on and oblique viewpoints. Our results confirm the hypothesis that accurate shape perception is facilitated to a statistically significantly greater extent by some principal direction texture patterns than by others. Specifically, we found that, for both views, under conditions of perspective projection, participants more often correctly identified the shape category and the shape orientation when the surface was textured with the pattern that contained oriented energy along both the first and second principal directions only than in the case of any other texture condition. Patterns containing markings following only one of the principal directions,or markings oriented obliquely to the principal directions, or containing information along other directions in addition to the principal directions yielded poorer performance overall. In examining the effects of projection type and view direction, we found that observers retained the ability to make correct shape category judgments under conditions of orthographic viewing under many texture conditions, as long as the surface patches were viewed from an oblique vantage point rather than head-on. However, our observers were unable to reliably disambiguate convex from concave surface orientations in the absence of perspective projection, regardless of texture type.",
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"abstract": "We consider the shape from texture problem, where the input is a single image of a curved, textured surface, and the texture and shape are both a priori unknown. We formulate this task as a three-player game between a shape process, a texture process, and a discriminator. The discriminator adapts a set of non-linear filters to try to distinguish image patches created by the texture process from those created by the shape process, while the shape and texture processes try to create image patches that are indistinguishable from those of the other. An equilibrium of this game yields two things: an estimate of the 2.5D surface from the shape process, and a stochastic texture synthesis model from the texture process. Experiments show that this approach is robust to common non-idealities such as shading, gloss, and clutter. We also find that it succeeds for a wide variety of texture types, including both periodic textures and those composed of isolated textons, which have previously required distinct and specialized processing.",
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"content": "We consider the shape from texture problem, where the input is a single image of a curved, textured surface, and the texture and shape are both a priori unknown. We formulate this task as a three-player game between a shape process, a texture process, and a discriminator. The discriminator adapts a set of non-linear filters to try to distinguish image patches created by the texture process from those created by the shape process, while the shape and texture processes try to create image patches that are indistinguishable from those of the other. An equilibrium of this game yields two things: an estimate of the 2.5D surface from the shape process, and a stochastic texture synthesis model from the texture process. Experiments show that this approach is robust to common non-idealities such as shading, gloss, and clutter. We also find that it succeeds for a wide variety of texture types, including both periodic textures and those composed of isolated textons, which have previously required distinct and specialized processing.",
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"abstract": "A view-dependent multiresolution triangulation algorithm is presented for a real-time flythrough. The triangulation of the terrain is generated incrementally on-the-fly during the rendering time. We show that since the view changes smoothly only a few incremental modifications are required to update the triangulation to a new view. The resulting triangles form a multiresolution Delaunay triangulation which satisfies a predetermined view-dependent error tolerance. The presented method provides a guaranteed quality mesh since it has control over the global geometric approximation error of the multiresolution view-dependent triangulation.",
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"abstract": "Interactive visualization of large digital elevation models is of continuing interest in scientific visualization, GIS, and virtual reality applications. Taking advantage of the regular structure of grid digital elevation models, efficient hierarchical multiresolution triangulation and adaptive level-of-detail (LOD) rendering algorithms have been developed for interactive terrain visualization. Despite the higher triangle count, these approaches generally outperform mesh simplification methods that produce irregular triangulated network (TIN) based LOD representations. In this project we combine the advantage of a TIN based mesh simplification preprocess with high-performance quadtree based LOD triangulation and rendering at run-time. This approach, called QuadTIN, generates an efficient quadtree triangulation hierarchy over any irregular point set that may originate from irregular terrain sampling or from reducing oversampling in high-resolution grid digital elevation models.",
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"abstract": "Introduction: The worldwide prevalence of obesity had a drastic increase in childhood/ adolescents. In 2014, it was estimated that 41 million children in all world, under the age of 5 were overweight or obese. Despite all the efforts, the number of overweight and obese children/adolescents is rising in almost all countries. Meanwhile, some points impaired the healthcare professionals to follow obesity guideline clinical practice (CPG). Information systems have an important role to play in the maintaining of this reality. Aim: To propose a set of archetypes for the integration of CPG recommendations for treatment and prevention of obesity in children and adolescents in an openEHR based Electronic Health Record (EHR). Methods: We assessed obesity guidelines as National Heart, Lung and Blood Institute (NHLBI), American Academic of Paediatrics (AAP), Brazilian Association for the Study of Obesity and Metabolic Syndrome (ABESO), World Health Organization (WHO) and Dietary Reference Intake (DRI) and selected the most representative variables in nutrition parameters (anthropometry, body composition, nutrients intake, etc.) in order to create/ find archetypes in Clinical Knowledge Manager (CKM) repository, and, finally, compose a template in openEHR. Results: 38 variables were identified in guidelines. However, only 22 archetypes were necessary to represent all of them. Of these 22 archetypes, 8 are already available in CKM, while 14 clinical statements had no archetype representation and they had to be created. Conclusion: Based on the created archetypes, an openEHR template can be created for the representation of clinical statements regarding the most important clinical guidelines in obesity. This template can be used by nutritionists and others health professionals to manage data relevant to obesity care.",
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"content": "Introduction: The worldwide prevalence of obesity had a drastic increase in childhood/ adolescents. In 2014, it was estimated that 41 million children in all world, under the age of 5 were overweight or obese. Despite all the efforts, the number of overweight and obese children/adolescents is rising in almost all countries. Meanwhile, some points impaired the healthcare professionals to follow obesity guideline clinical practice (CPG). Information systems have an important role to play in the maintaining of this reality. Aim: To propose a set of archetypes for the integration of CPG recommendations for treatment and prevention of obesity in children and adolescents in an openEHR based Electronic Health Record (EHR). Methods: We assessed obesity guidelines as National Heart, Lung and Blood Institute (NHLBI), American Academic of Paediatrics (AAP), Brazilian Association for the Study of Obesity and Metabolic Syndrome (ABESO), World Health Organization (WHO) and Dietary Reference Intake (DRI) and selected the most representative variables in nutrition parameters (anthropometry, body composition, nutrients intake, etc.) in order to create/ find archetypes in Clinical Knowledge Manager (CKM) repository, and, finally, compose a template in openEHR. Results: 38 variables were identified in guidelines. However, only 22 archetypes were necessary to represent all of them. Of these 22 archetypes, 8 are already available in CKM, while 14 clinical statements had no archetype representation and they had to be created. Conclusion: Based on the created archetypes, an openEHR template can be created for the representation of clinical statements regarding the most important clinical guidelines in obesity. This template can be used by nutritionists and others health professionals to manage data relevant to obesity care.",
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"abstract": "We propose to demonstrate a ubiquitous immersive virtual reality system that is highly scalable and accessible to a larger audience. With the advent of handheld and wearable devices, we have seen it gain considerable popularity among the common masses. We present a practical design of such a system that offers the core affordances of immersive virtual reality in a portable and untethered configuration. In addition, we have developed an extensive immersive virtual experience that involves engaging users visually and aurally. This is an effort towards integrating VR into the space and time of user workflows.",
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"abstract": "One of the main problems in modern society is food waste. The main cause of it is the attitude of the consumers, which influence enormously the whole food chain, from production to consumption. Most of buyers see food as a commodity and, especially children, don't have any idea where it comes from. One way to reduce the problem seems to be changing consumers' attitude, which develops during the early years of childhood. Research has shown a change in children's food-related behavior after attending school garden classes. Often the experience of growing crops can't be done in the domestic space, thus causing a loss of the positive effects in the long term. This paper presents a project that tries to teach children how to grow their own food indoor and outdoor, mixing real and virtual reality, connecting something natural as a plant to the Internet of Things (network of physical objects virtually connected to each other and to the web). The use of sensors related to an app makes it more fun and educational. The aim of the project is to change children's attitude towards food, increasing their knowledge about production and consumption in order to reduce waste in the future. The research has been in collaboration with Cisco NL and MediaLAB Amsterdam. The user testing has been executed in Amsterdam, with Dutch children.",
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"abstract": "Obesity is a growing health problem in the United States, especially among children. Indicators show that the rate of obesity for children age 12–19 years old has risen from 5% percent to 18% over the last ten years. To deal with the obesity epidemic, a number of technology interventions, including the use of robotics and virtual reality games, have arisen to motivate youth to become physically active. The difficulty though lies in providing a tool for health professionals to embed established clinical health protocols into these technologies. As such, in this paper we present a mixed reality system that translates physical demonstrations of various exercise protocols into movements for a robotic agent. This is accomplished by mapping real-time data from an RGB-D sensor to a robotic exercise coach. Details of the system are discussed and results from evaluation with 20 human subjects are provided.",
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"abstract": "This paper represents research in progress in Simultaneous Localization and Mapping (SLAM) for Micro Aerial Vehicles (MAVs) in the context of rescue and/or recognition navigation tasks in indoor environments. In this kind of applications, the MAV must rely on its own onboard sensors to autonomously navigate in unknown, hostile and GPS denied environments, such as ruined or semi-demolished buildings. This article aims to investigate a SLAM technique that fuses visual information and measurements from the inertial measurement unit (IMU), to robustly obtain the 6DOF pose estimation of a MAV within a local map of the environment. The monocular visual SLAM algorithm along with the IMU calculate the pose estimation through an Extended Kalman Filter (EKF). The system consists of a low-cost commercial drone and a remote control unit to computationally afford the SLAM algorithms using a distributed node system based on ROS (Robot Operating System). Some experimental results show how sensor fusion improves the position estimation and the obtained map under different test conditions.",
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"abstract": "Keyframe-based SLAM has achieved great success in terms of accuracy, efficiency and scalability. However, due to parallax requirement and delay of map expansion, traditional keyframe-based methods easily encounter the robustness problem in the challenging cases especially for fast motion with strong rotation. For AR applications in practice, these challenging cases are easily encountered, since a home user may not carefully move the camera to avoid potential problems. With the above motivation, in this paper, we present RKSLAM, a robust keyframe-based monocular SLAM system that can reliably handle fast motion and strong rotation, ensuring good AR experiences. First, we propose a novel multihomography based feature tracking method which is robust and efficient for fast motion and strong rotation. Based on it, we propose a real-time local map expansion scheme to triangulate the observed 3D points immediately without delay. A sliding-window based camera pose optimization framework is proposed, which imposes the motion prior constraints between consecutive frames through simulated or real IMU data. Qualitative and quantitative comparisons with the state-of-the-art methods, and an AR application on mobile devices demonstrate the effectiveness of the proposed approach.",
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"content": "Keyframe-based SLAM has achieved great success in terms of accuracy, efficiency and scalability. However, due to parallax requirement and delay of map expansion, traditional keyframe-based methods easily encounter the robustness problem in the challenging cases especially for fast motion with strong rotation. For AR applications in practice, these challenging cases are easily encountered, since a home user may not carefully move the camera to avoid potential problems. With the above motivation, in this paper, we present RKSLAM, a robust keyframe-based monocular SLAM system that can reliably handle fast motion and strong rotation, ensuring good AR experiences. First, we propose a novel multihomography based feature tracking method which is robust and efficient for fast motion and strong rotation. Based on it, we propose a real-time local map expansion scheme to triangulate the observed 3D points immediately without delay. A sliding-window based camera pose optimization framework is proposed, which imposes the motion prior constraints between consecutive frames through simulated or real IMU data. Qualitative and quantitative comparisons with the state-of-the-art methods, and an AR application on mobile devices demonstrate the effectiveness of the proposed approach.",
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"abstract": "Egomotion and scene estimation is a key component in automating robot navigation, as well as in virtual reality applications for mobile phones or head-mounted displays. It is well known, however, that with long exploratory trajectories and multi-session mapping for long-term autonomy or collaborative applications, the maintenance of the ever-increasing size of these maps quickly becomes a bottleneck. With the explosion of data resulting in increasing runtime of the optimization algorithms ensuring the accuracy of the Simultaneous Localization And Mapping (SLAM) estimates, the large quantity of collected experiences is imposing hard limits on the scalability of such techniques. Considering the keyframe-based paradigm of SLAM techniques, this paper investigates the redundancy inherent in SLAM maps, by quantifying the information of different experiences of the scene as encoded in keyframes. Here we propose and evaluate different information-theoretic and heuristic metrics to remove dispensable scene measurements with minimal impact on the accuracy of the SLAM estimates. Evaluating the proposed metrics in two state-of-the-art centralized collaborative SLAM systems, we provide our key insights into how to identify redundancy in keyframe-based SLAM.",
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"title": "2013 Fifth International Conference on Geo-Information Technologies for Natural Disaster Management (GiT4NDM)",
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"abstract": "In the field of UAV information processing and aerial image processing technology, data collected from MUAV platform is more and more widely used in emergency rescues. The traditional way of aerial photogrammetry, which has a limited accuracy in aerial camera locations from the UAV, makes measurements of the object location on pairwise images inaccurate. A method is presented in this paper to fast construct the stereo aerial image using high-precision GPS and INS data. It also allows users to do correct measurements based on aerial images as the high-frequency DGPS promoting the accuracy and reliability of aerial camera locations. The main steps to construct a stereo aerial image are: 1) image acquisition and overlap calculation, making a route planning for the flight based on the height of the MUAV and the objects types in the flight area to get image sequences with adequate overlap.2) Fast stitching of aerial images: We used high-precision GPS and INS data to pre-align images roughly which would make the matching process much faster and then stitch the images with matched feature points.3) Stereo aerial image synthesis, two mosaic images over the same flight area are synthesized. We adjust the parallax of the synthesized image to a scale properly fitting the human eyes to make it more dynamic. Due to a stable low-altitude flying of the MUAV as well as the high density position and attitude data acquired, it would enable us to measure objects in the stereo image with a longer baseline. In order to verify the practicability and the measurement accuracy of this method, an experiment was done along the Kelan River in Xinjiang. We obtained high-resolution images and accurate camera locations with the MUAV platform. Afterwards, a stereo aerial image was quickly constructed and measurements were taken by improved aerial photogrammetry to get detail information of the image. In the accuracy analysis of the measurements results, it demonstrated fine efficiency and a good accuracy of the method.",
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"content": "In the field of UAV information processing and aerial image processing technology, data collected from MUAV platform is more and more widely used in emergency rescues. The traditional way of aerial photogrammetry, which has a limited accuracy in aerial camera locations from the UAV, makes measurements of the object location on pairwise images inaccurate. A method is presented in this paper to fast construct the stereo aerial image using high-precision GPS and INS data. It also allows users to do correct measurements based on aerial images as the high-frequency DGPS promoting the accuracy and reliability of aerial camera locations. The main steps to construct a stereo aerial image are: 1) image acquisition and overlap calculation, making a route planning for the flight based on the height of the MUAV and the objects types in the flight area to get image sequences with adequate overlap.2) Fast stitching of aerial images: We used high-precision GPS and INS data to pre-align images roughly which would make the matching process much faster and then stitch the images with matched feature points.3) Stereo aerial image synthesis, two mosaic images over the same flight area are synthesized. We adjust the parallax of the synthesized image to a scale properly fitting the human eyes to make it more dynamic. Due to a stable low-altitude flying of the MUAV as well as the high density position and attitude data acquired, it would enable us to measure objects in the stereo image with a longer baseline. In order to verify the practicability and the measurement accuracy of this method, an experiment was done along the Kelan River in Xinjiang. We obtained high-resolution images and accurate camera locations with the MUAV platform. Afterwards, a stereo aerial image was quickly constructed and measurements were taken by improved aerial photogrammetry to get detail information of the image. In the accuracy analysis of the measurements results, it demonstrated fine efficiency and a good accuracy of the method.",
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"affiliation": "Inst. of RS&GIS, Peking Univ., Beijing, China",
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"affiliation": "Coll. of Geosci. & Surveying Eng., China Univ. of Min. &Technol., Beijing, China",
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"abstract": "In this paper, we present a motion planning framework for a fully deployed autonomous unmanned aerial vehicle which integrates two sample-based motion planning techniques, Probabilistic Roadmaps and Rapidly Exploring Random Trees. Additionally, we incorporate dynamic reconfigurability into the framework by integrating the motion planners with the control kernel of the UAV in a novel manner with little modification to the original algorithms. The framework has been verified through simulation and in actual flight. Empirical results show that these techniques used with such a framework offer a surprisingly efficient method for dynamically reconfiguring a motion plan based on unforeseen contingencies which may arise during the execution of a plan. The framework is generic and can be used for additional platforms.",
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"abstract": "The rotary wing UAV has an important practical significance in the military and civil fields. The ability of autonomous flight control and obstacle avoidance is the precondition for ensuring the safe flight of unmanned aerial vehicles. This paper uses contour map data to see the closed contour curve as an obstacle, extracts the height data of the control points, and removes the insertion values outside the measured elevation to get the closed polygonal curve as obstacles to carry out UAV path planning. The simulation results show that the algorithm is feasible and has some advantages in the complex terrain, such as mountain area, city and so on.",
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"title": "2019 15th International Conference on Mobile Ad-Hoc and Sensor Networks (MSN)",
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"doi": "10.1109/MSN48538.2019.00025",
"title": "An Autonomous UAV Navigation System for Unknown Flight Environment",
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"abstract": "Autonomous navigation systems on unmanned aerial vehicles (UAVs) equipped with multiple sensors are essential to various applications in the smart city and intelligent transportation. However, the general autonomous navigation models are markedly influenced by the prior knowledge from training environments, which in turn are not applicable in unknown environments. To address this issue, we propose an online autonomous UAV navigation system named as multi-sensor data-fusion-based autonomous navigation (MDFAN) system for unknown flight environments, including the collision avoidance and path planning. Specifically, first, the newly MDFAN system formulates the navigation problem as a decision-making path planning problem to reduce the dependence of prior knowledge of the flight environment. Secondly, we develop a multi-sensor data-fusion-based method to extract more effective local environment information for mining the inherent inter-relationship between the local environment information and the current state of the UAV. Thirdly, we propose a deep reinforcement learning method for handling uncertain situations of the unknown environment. Finally, we validated our method both on the simulated and real-world environments.",
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"content": "Autonomous navigation systems on unmanned aerial vehicles (UAVs) equipped with multiple sensors are essential to various applications in the smart city and intelligent transportation. However, the general autonomous navigation models are markedly influenced by the prior knowledge from training environments, which in turn are not applicable in unknown environments. To address this issue, we propose an online autonomous UAV navigation system named as multi-sensor data-fusion-based autonomous navigation (MDFAN) system for unknown flight environments, including the collision avoidance and path planning. Specifically, first, the newly MDFAN system formulates the navigation problem as a decision-making path planning problem to reduce the dependence of prior knowledge of the flight environment. Secondly, we develop a multi-sensor data-fusion-based method to extract more effective local environment information for mining the inherent inter-relationship between the local environment information and the current state of the UAV. Thirdly, we propose a deep reinforcement learning method for handling uncertain situations of the unknown environment. Finally, we validated our method both on the simulated and real-world environments.",
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"General Autonomous Navigation Models",
"Training Environments",
"Online Autonomous UAV Navigation System",
"Multisensor Data Fusion Based Autonomous Navigation System",
"Collision Avoidance",
"MDFAN System",
"Path Planning",
"Decision Making",
"Navigation",
"Training",
"Unmanned Aerial Vehicles",
"Sensor Systems And Applications",
"UAV Based Autonomous Navigation System",
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"Deep Reinforcement Learning",
"Multi Sensor Data Fusion"
],
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{
"affiliation": "Nanjing University of Aeronautics and Astronautics",
"fullName": "Haitao Huang",
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{
"affiliation": "Nanjing University of Aeronautics and Astronautics",
"fullName": "Qiuhong Wang",
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{
"affiliation": "Nanjing University of Aeronautics and Astronautics",
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"abstract": "Aircraft surface inspection is critical to the safe flight of aircraft. At present, aircraft surface inspection is still mainly conducted by manual visual inspection. In order to improve the efficiency of inspection efficiency, in this paper, we designed an unmanned aerial vehicle (UAV) intelligent system to collect aircraft surface images and used deep learning object detection algorithm to independently and efficiently solved aircraft surface inspection include:(1) Used unmanned aerial vehicle (UAV) to collect the whole surface image of the aircraft wholly and independently according to the pre-planning information. (2) A high-performance algorithm for real-time detection and a high-precision algorithm for accurate detection were designed to realize intelligent inspection of aircraft surface damage based on deep learning object detection. Our experiments showed that this system could quickly and accurately inspect the entire aircraft surface with meeting the safety requirements.",
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{
"abstractType": "Regular",
"content": "Aircraft surface inspection is critical to the safe flight of aircraft. At present, aircraft surface inspection is still mainly conducted by manual visual inspection. In order to improve the efficiency of inspection efficiency, in this paper, we designed an unmanned aerial vehicle (UAV) intelligent system to collect aircraft surface images and used deep learning object detection algorithm to independently and efficiently solved aircraft surface inspection include:(1) Used unmanned aerial vehicle (UAV) to collect the whole surface image of the aircraft wholly and independently according to the pre-planning information. (2) A high-performance algorithm for real-time detection and a high-precision algorithm for accurate detection were designed to realize intelligent inspection of aircraft surface damage based on deep learning object detection. Our experiments showed that this system could quickly and accurately inspect the entire aircraft surface with meeting the safety requirements.",
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"normalizedAbstract": "Aircraft surface inspection is critical to the safe flight of aircraft. At present, aircraft surface inspection is still mainly conducted by manual visual inspection. In order to improve the efficiency of inspection efficiency, in this paper, we designed an unmanned aerial vehicle (UAV) intelligent system to collect aircraft surface images and used deep learning object detection algorithm to independently and efficiently solved aircraft surface inspection include:(1) Used unmanned aerial vehicle (UAV) to collect the whole surface image of the aircraft wholly and independently according to the pre-planning information. (2) A high-performance algorithm for real-time detection and a high-precision algorithm for accurate detection were designed to realize intelligent inspection of aircraft surface damage based on deep learning object detection. Our experiments showed that this system could quickly and accurately inspect the entire aircraft surface with meeting the safety requirements.",
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"affiliation": "Xiamen University, School of Aerospace Engineering,Xiamen,People's Republic of China",
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"title": "2020 2nd International Conference on Artificial Intelligence and Advanced Manufacture (AIAM)",
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"title": "Indoor Vision Navigation and Target Tracking System for Aerial Robot",
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"abstract": "The guidance and precise control based on vision sensing is the key to realize the indoor positioning, navigation and tracking of aerial robot. Nowadays, vision sensing system shows great advantages in robot applications. This paper introduces an indoor vision navigation and target tracking system for aerial robot. The whole system consists of two parts: guidance platform and control platform. The guidance platform is composed of a processor and five stereoscopic sensor units, which enables the aerial robot mentioned in this paper to realize basic vision, including vision odometer, obstacle avoidance, SLAM, depth map generation, etc. The control platform involves flight control and pan-tilt control. The flight control adopts NAZA N3 module to collect the postures of the aerial robot through the built-in double IMU and control the four motors of the quadrotor to maintain stable flight. In the pan-tilt control part, the main control chip STM32F427IIH6 is equipped with MPU6500 gyro and IST8310 geomagnetic triaxial sensor. The level and pitch direction of pan-tilt are precisely controlled by stereo sensing unit to identify and track interesting targets.",
"abstracts": [
{
"abstractType": "Regular",
"content": "The guidance and precise control based on vision sensing is the key to realize the indoor positioning, navigation and tracking of aerial robot. Nowadays, vision sensing system shows great advantages in robot applications. This paper introduces an indoor vision navigation and target tracking system for aerial robot. The whole system consists of two parts: guidance platform and control platform. The guidance platform is composed of a processor and five stereoscopic sensor units, which enables the aerial robot mentioned in this paper to realize basic vision, including vision odometer, obstacle avoidance, SLAM, depth map generation, etc. The control platform involves flight control and pan-tilt control. The flight control adopts NAZA N3 module to collect the postures of the aerial robot through the built-in double IMU and control the four motors of the quadrotor to maintain stable flight. In the pan-tilt control part, the main control chip STM32F427IIH6 is equipped with MPU6500 gyro and IST8310 geomagnetic triaxial sensor. The level and pitch direction of pan-tilt are precisely controlled by stereo sensing unit to identify and track interesting targets.",
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"authors": [
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"affiliation": "University of Science and Technology of China,Chinese Academy of Science Science Island Branch of Graduate School,Key Laboratory of Atmospheric Optics Anhui Institute of Optics and Fine Mechanics,Hefei,China",
"fullName": "Shuai Li",
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"affiliation": "Inria, Univ Rennes, M2S - EA 7470, Rennes, F-35000, France",
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"abstract": "Locomotion is one of the most important problems in virtual reality. Real walking experience is the key to immersively explore the virtual world. Several strategies have been proposed to solve the problem, but most are not suitable to solve the locomotion problem in Room-Scale VR. The omnidirectional treadmill is an effective way to provide a natural walking experience within the Room-Scale VR. This paper proposes a novel omnidirectional treadmill named HEX-CORE-PROTOTYPE (HCP). The principle of synthesis and decomposition of velocity is applied to form an omnidirectional velocity field. Our system could provide a full degree of freedom and real walking experience in place. Compared to the current best system, the height of HCP is only 40% of it. The application shows the effectiveness of our system to solve the locomotion problem in Room-Scale VR.",
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"title": "Tapping-In-Place: Increasing the naturalness of immersive walking-in-place locomotion through novel gestural input",
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"abstract": "Walking-In-Place (WIP) techniques provide one possible solution to the problem emerging when an immersive virtual environment (IVE) offers a larger freedom of movement than the physical environment where the interaction is taking place. Such techniques are particularly useful when the spatial constraints are very prominent. However, many previous WIP techniques rely on the same gesture for input - a stepping gesture resembling the one performed when walking up a flight of stairs. It seems possible that this gesture may be perceived as more physically straining than real walking which may lead to a less natural walking experience. In this paper we present two novel forms of gestural input for WIP locomotion and describe a within subjects study comparing these to the traditional stepping gesture. The two gestures proposed are: a wiping gesture where the user alternately bends each knee, moving one lower leg backwards, and a tapping gesture where the user in turn lifts each heel without breaking contact with the ground. Visual feedback was delivered through a head-mounted display and auditory feedback was provided by means of a 24-channel surround sound system. The gestures were evaluated in terms of perceived naturalness, presence, and real world positional drift. The tapping gesture was significantly more natural than the wiping gesture and was experienced as significantly less strenuous than the other two techniques. Finally, the tapping gesture resulted in significantly less positional drift.",
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"content": "Walking-In-Place (WIP) techniques provide one possible solution to the problem emerging when an immersive virtual environment (IVE) offers a larger freedom of movement than the physical environment where the interaction is taking place. Such techniques are particularly useful when the spatial constraints are very prominent. However, many previous WIP techniques rely on the same gesture for input - a stepping gesture resembling the one performed when walking up a flight of stairs. It seems possible that this gesture may be perceived as more physically straining than real walking which may lead to a less natural walking experience. In this paper we present two novel forms of gestural input for WIP locomotion and describe a within subjects study comparing these to the traditional stepping gesture. The two gestures proposed are: a wiping gesture where the user alternately bends each knee, moving one lower leg backwards, and a tapping gesture where the user in turn lifts each heel without breaking contact with the ground. Visual feedback was delivered through a head-mounted display and auditory feedback was provided by means of a 24-channel surround sound system. The gestures were evaluated in terms of perceived naturalness, presence, and real world positional drift. The tapping gesture was significantly more natural than the wiping gesture and was experienced as significantly less strenuous than the other two techniques. Finally, the tapping gesture resulted in significantly less positional drift.",
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"affiliation": "Aalborg Univ. Copenhagen, Aalborg, Denmark",
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"affiliation": "Aalborg Univ. Copenhagen, Aalborg, Denmark",
"fullName": "Rolf Nordahl",
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{
"proceeding": {
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"title": "Corrective feedback for depth perception in CAVE-like systems",
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"abstract": "The perceived distance estimation in an immersive virtual reality system is generally underestimated to the actual distance. Approaches had been found to provide users with better dimensional perception. One method used in head-mounted displays is to interact by walking with visual feedback, but it is not suitable for a CAVE-like system, like imseCAVE, with confined spaces for walking. A verbal corrective feedback mechanism is proposed. The result shows that estimation accuracy generally improves after eight feedback trials although some estimations become overestimated. One possible explanation is the need of more verbal feedback trials. Further research on top-down approach for improvement in depth perception is suggested.",
"abstracts": [
{
"abstractType": "Regular",
"content": "The perceived distance estimation in an immersive virtual reality system is generally underestimated to the actual distance. Approaches had been found to provide users with better dimensional perception. One method used in head-mounted displays is to interact by walking with visual feedback, but it is not suitable for a CAVE-like system, like imseCAVE, with confined spaces for walking. A verbal corrective feedback mechanism is proposed. The result shows that estimation accuracy generally improves after eight feedback trials although some estimations become overestimated. One possible explanation is the need of more verbal feedback trials. Further research on top-down approach for improvement in depth perception is suggested.",
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],
"normalizedAbstract": "The perceived distance estimation in an immersive virtual reality system is generally underestimated to the actual distance. Approaches had been found to provide users with better dimensional perception. One method used in head-mounted displays is to interact by walking with visual feedback, but it is not suitable for a CAVE-like system, like imseCAVE, with confined spaces for walking. A verbal corrective feedback mechanism is proposed. The result shows that estimation accuracy generally improves after eight feedback trials although some estimations become overestimated. One possible explanation is the need of more verbal feedback trials. Further research on top-down approach for improvement in depth perception is suggested.",
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"Training",
"Legged Locomotion",
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"Three Dimensional Displays",
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"Error Correction",
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"authors": [
{
"affiliation": "The University of Hong Kong, Hong Kong, China",
"fullName": "Adrian K. T. Ng",
"givenName": "Adrian K. T.",
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"affiliation": "The University of Hong Kong, Hong Kong, China",
"fullName": "Leith K. Y. Chan",
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"affiliation": "The University of Hong Kong, Hong Kong, China",
"fullName": "Henry Y. K. Lau",
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