Surround-screen projection-based virtual reality: the design and implementation of the CAVE
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
Vehicle Teleoperation Interfaces
Autonomous Robots
Walking About Virtual Environments on an Infinite Floor
VR '99 Proceedings of the IEEE Virtual Reality
Motion compression for telepresent walking in large target environments
Presence: Teleoperators and Virtual Environments - Special section: Advances in interactive multimodal telepresent systems
Movement in Cluttered Virtual Environments
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
Spatial Orientation and Wayfinding in Large-Scale Virtual Spaces II: Guest Editors' Introduction
Presence: Teleoperators and Virtual Environments
Inertial-Force Feedback for the Treadport Locomotion Interface
Presence: Teleoperators and Virtual Environments
Analyses of human sensitivity to redirected walking
Proceedings of the 2008 ACM symposium on Virtual reality software and technology
Redirected walking to explore virtual environments: Assessing the potential for spatial interference
ACM Transactions on Applied Perception (TAP)
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A telepresence system enables a user in a local environment to maneuver in a remote or virtual space through a robotic operator (agent). In order to ensure a high degree of telepresence realism, it is critical that the local user has the ability to control the remote agent's movement through the user's own locomotion. The required motion of the remote agent is determined according to its environment and the specific task it is to perform. The local user's environment is usually different from that of the remote agent in terms of the shapes and dimensions. A motion mapping is needed from the remote agent to the local user to ensure the similarity of the paths in the two environments. In particular, the terminal position of the local user after a segment of movement is also an important portion in such a motion mapping. This paper progressively addresses these issues from the optimization point of view. Two strategies are suggested for solving the motion mapping problem for the single user case. The resulting solutions are then extended to the multiuser case where several local users share a local environment to control different remote agents. Extensive simulations and comparisons show the feasibility and effectiveness of the proposed approaches.