Heedong Goh

We propose a novel method to enhance a family of ICP(iterative closest point) algorithms by updating velocity. Even though ICP algorithms play a dominant role in a model based tracking, it is difficult to avoid an accumulated tracking error during a continuous motion. It is because that typical ICP algorithms assumes that each of the point in one scan are measured simultaneously while most of the available rangefinders measure each point sequentially. Hence conventional ICP algorithms are prone

This research was supported in part by the National Science Foundation under grant DCR 84-06801, the Office of Naval Research under grant N00014-82-K-0186, and the Defense Advanced Research Projects Agency under grant N00014-K-85-0878.

This research was supported in part by the National Science Foundation under grant NSF DCR 84-06801.

We present a novel approach to integrate physics based simulation with haptic interfaces for virtual reality applications. Proposed approach categorizes rigid bodies into two set of the visual and haptic rendering groups. Dynamic states of most objects which belong to the visual rendering group are simulated according to the visual rendering update rate which is typically 60 Hz. Only the objects in the haptic rendering group are simulated in a higher update rate which is required for the stable

This paper presents new interaction method to control panorama video using head tracking technique. The panorama video viewer includes head tracking module which controls the rotation and forward/backward of the viewpoint. We applied this interaction technique to panorama video, which has omnidirectional gaze, to maximize realistic and immersive feelings. The proposed panorama video system was applied to the baseball broadcasting to show the feasibility of the suggested interaction technique.

To achieve a successful interactive virtual content where the user can handle devices in the virtual environment requires not only designing an interaction mechanism, but also creating a variety of stories. Well-designed narrative brings the audience into the story with understanding and increases the artistic side of the story as well. However, until now there was not enough effort to improve the weak storytelling side of the VR contents. By combining the interactive aspects of the VR with the

In this paper, we propose a level of contexts such as low level and high level contexts, and its criteria of categorization are the existence of interaction and composite process done by the inference mechanism. When there is no matching high level service for the associated high level context, this context is described as meaningless. If the services cannot be provided with the entities by the system, this situational information is of little consequence. To provide services with the entities,

The paper discusses a distinction between the knowledge used by an' explanation process (explanation knowledge) and the structure built as a result of this process (explanation structure). An explanation of any data or phenomenon is viewed as a composition of these two components. Two types of explanations are discussed: deductive and inductive. Based on these ideas, empirical, analytical and then constructive learning methods are compared. Constructive closed-loop learning (or, briefly

The VRML (Virtual Reality Modeling Language) file format is a popular file format for describing a graphical scene: object shapes, appearance properties, animation, and interactions. However, the format does not provide any mechanism for describing the order of objects' appearances or their changes over time. Instead, an interface to Java is offered for controlling the temporal relationships between objects in the scene. The use of Java makes it difficult for a person with his programming skill

In this paper, we introduce a novel scene graph library for mobile platforms, called the 'Mobile OpenSceneGraph (Mobile OSG)', as a mobile graphics middleware. Our mobile scene graph library supports several nice properties, including platform-independence, extensibility, touch-based UI supports, and compatibility, by carefully adapting the OpenSceneGraph library, one of the most widely used graphics middlewares for desktop platforms, to mobile platforms. We validate the usefulness of the propos