HMD型テレイグジスタンスシステムの頭部運動時における視野角不整合の影響

Abstract

When using telexistence or virtual reality systems, the operator perceives the remote/virtual environment as a strange world, if the viisual parameters of the remote camera or the projection used to generate the graphics images of virtual environments are inconsistent with those of the display device. For the systems using HMD, field of view of the HMD (camera) and the inter-pupillary (inter-camera) distance can be considered as elementary parameters to determine the appearance of the displayed world. In this paper, this strangeness, which has been reported as subjective impression, is analyzed geometrically as a dynamic distortion and deformation of the perceived world. Also, a method to reduce the strangeness is proposed, by controlling the scaling factor of the rotational motion of the robot head so that the optical flow nearby the gazed point could match with the mechanism of vestibulo-ocular reflex of human operators.