The complexity of robot motion planning
The complexity of robot motion planning
Rapid controlled movement through a virtual 3D workspace
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Steps and ladders in virtual reality
VRST '94 Proceedings of the conference on Virtual reality software and technology
Taking steps: the influence of a walking technique on presence in virtual reality
ACM Transactions on Computer-Human Interaction (TOCHI) - Special issue on virtual reality software and technology
A probabilistic learning approach to motion planning
WAFR Proceedings of the workshop on Algorithmic foundations of robotics
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Virtual voyage: interactive navigation in the human colon
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Path drawing for 3D walkthrough
Proceedings of the 11th annual ACM symposium on User interface software and technology
Walking walking-in-place flying, in virtual environments
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Hands-free multi-scale navigation in virtual environments
I3D '01 Proceedings of the 2001 symposium on Interactive 3D graphics
Robot Motion Planning
Interactive navigation in complex environments using path planning
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
HoverCam: interactive 3D navigation for proximal object inspection
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Improving 3D navigation in multiscale environments using cubemap-based techniques
Proceedings of the 2011 ACM Symposium on Applied Computing
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Three-dimensional visualization is a valuable technique in the oil industry. One of its important applications is for inspecting black oil reservoir models, allowing engineers to design and analyze different model configurations, focusing on maximum production and minimum cost. These models are huge structures, with complex well arrangements, that require fly-through navigation for accurate analysis. The common approach of direct camera control is difficult for inexperienced users and results in inappropriate camera motions and collisions with the environment, which can easily lead to user distraction. Moreover, investments are being made on immersive caves, and environment collisions in this case are very uncomfortable. It becomes necessary to provide an assisted navigation, in which the user guides the camera more easily, without restricting the environment exploration. Also, it is interesting to provide a fully automatic navigation mode, in which the user selects a target and the system computes a smooth, collision-free path throughout the environment.In this paper, we present a specific solution for navigation in models used in numerical simulations of black oil reservoirs. Our approach is based on probabilistic roadmaps. A global roadmap of the environment is pre-computed using a randomized motion-planning algorithm. At runtime, graph searching is performed using the A* algorithm to compute collision-free paths. We propose a new roadmap-construction algorithm based on a hierarchical environment-sampling strategy, along with a topology-based coverage estimate. For multi-layered reservoir models, we present a new heuristic function for the A* algorithm that greatly increases graph searching performance. We also present new approaches to use the pre-computed roadmap for providing both assisted and automatic navigation at runtime.