gordon wetzstein stanford university · pdf filegordon wetzstein! stanford university!! ee 267...
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EE 267: Introduction and Overview!
Gordon Wetzstein!Stanford University!
!
EE 267 Virtual Reality!
Lecture 1!stanford.edu/class/ee267/!
!
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vir·tu·al re·al·i·ty!vərCH(əw)əl rē‘alədē!
!!!the computer-generated simulation of a three-dimensional image or environment that can be interacted with in a seemingly real or physical way by a person using special electronic equipment, such as a helmet with a screen inside or gloves fitted with sensors.!
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vpl research!
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remote control of vehicles, e.g. drones!
architecture walkthroughs!
virtual travel!education!
robotic surgery!gaming!
simulation & training! visualization & entertainment!
a trip down the rabbit hole!
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VR at Stanford’s Medical School!
!•! Lucile Packard Children’s Hospital: used to
alleviate pain, anxiety for pediatric patients!!!•! VR Technology Clinic: applications in
psychotherapy, mental health, for people with phantom pain, …!
•! help train residents, assist surgeons planning operations, …!
photo from Stanford Medicine News!
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National Academy of Engineering!
“Enhance Virtual Reality” is 1 of 14 NAE grand challenges for engineering in the 21st century!
image from NAE!
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Exciting Engineering Aspects of VR/AR!
•! sensors & imaging!•! computer vision!•! scene understanding!
•! photonics / waveguides!•! human perception !•! displays: visual, auditory,
vestibular, haptic, …!•! VR cameras!
•! cloud computing!•! shared experiences!
•! HCI!•! applications!
•! compression, streaming!
•! CPU, GPU!•! IPU, DPU?!
imag
es b
y m
icro
soft,
face
book
!
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Where We Want It To Be!
image by ray ban!
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Personal Computer!e.g. Commodore PET 1983!
Laptop!e.g. Apple MacBook!
Smartphone!e.g. Google Pixel!
AR/VR!e.g. Microsoft Hololens!
???!
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A Brief History of Virtual Reality!
1838! 1968! 2012-2018!
Stereoscopes!Wheatstone, Brewster, …!
VR & AR !Ivan Sutherland!
VR explosion!Oculus, Sony, HTC, MS, …!
Nintendo!Virtual Boy!
1995!
???!
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Ivan Sutherland’s HMD!•! optical see-through AR, including:!
•! displays (2x 1” CRTs)!
•! rendering!•! head tracking!
•! interaction!
•! model generation!
•! computer graphics!
•! human-computer interaction!
I. Sutherland “A head-mounted three-dimensional display”, Fall Joint Computer Conference 1968!
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Nintendo Virtual Boy!
•! computer graphics & GPUs were not ready yet!!!
Game: Red Alarm!!
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Where we are now!
IFIXIT teardown!
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1968!
1980s!
2000s!
electronic / digital !
HCI / haptics!
low cost, high-res, low-latency!!
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Virtual Image!
1d+ 1d '
= 1f
d!
d’!f!
Problems: !!•! fixed focal plane!
•! no focus cues !!
•! cannot drive accommodation with rendering!!
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Augmented Reality!!
(not really covered in this class, but closely related)!
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Pepper’s Ghost 1862!
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Google Glass!
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Google Glass!
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Meta 2!
•! larger field of view (90 deg) than Glass!
•! also larger device form factor !
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Microsoft HoloLens!
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Microsoft HoloLens!
•! diffraction grating!
•! small FOV (30x17), but very good image quality!
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Zeiss Smart Optics!•! great device form factor!•! polycarbonate light guide – easy to manufacture and robust!•! smaller field of view (17 deg)!
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Sony IMX-001!•! also great form factor!•! small FOV (9x6 deg)!•! monochrome!
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Video AR: ARCore, ARKit, ARToolKit, …!
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Gordon Wetzstein! Robert Konrad! Hayato Ikoma!
EE267 Instructors!
Assistant Professor of EE/CS! Research Assistants and EE267 – VR experts!!
Marcus Pan!
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About EE 267!• experimental class, taught for the 3rd time (help us improve it!)!
• lectures + assignments = one big project – build your own VR HMD!
• all hardware provided, but must return at the end!
• enrollment limited, because it’s a lab-based class and we only have limited hardware kits!
• will be offered again, but come to class, hand in hw if you are on waitlist!!
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About EE 267 - Goals!• understand fundamental concepts of VR and Computer Graphics!
• implement software + hardware of a head mounted display!
• learn basic WebGL/JavaScript and Arduino programming!
• build your own HMD!
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HMD Housing & Lenses!
6” LCD & HDMI Driver
Board!
VRduino!
Flex Sensors!
Vibration Motors!
IMU &!Teensy !
HDMI Cable!
2x USB Cable!
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HMD Housing and Lenses!•! View-Master VR Starter Kit ($15-20)
or Deluxe VR Viewer ($23) !
•! implements Google Cardboard 1.0/2.0!
•! very durable – protect flimsy LCDs!
•! may need to drill additional holes!
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Display!
•! Topfoison LCDs: !•! 1080p - $90!
•! 1440p (2K) - $100!
•! HDMI driver boards included!
•! super easy to use as external monitor on desktop or laptop!
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VRduino!•! Arduino-based open
source platform for:!•! orientation tracking!•! positional tracking!•! interfacing with
other IO devices!•! custom-design for EE 267
by Keenan Molner!•! all HW-related files on
course website!
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VRduino!•! Teensy 3.2 microcontroller
(48 MHz, $20) for all processing & IO!
•! InvenSense 9250 IMU (9-DOF, $6) for orientation tracking!
•! Triad photodiodes & precondition circuit ($1) for position tracking with HTC Lighthouse!
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Some Student Projects - Input Devices!•! data gloves with flex sensors!•! different types of controllers with
tactile feedback via vibration motors!•! all connected to VRduino GPIO pins!
images from Adafruit.com!
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About EE 267!
• all important info here: http://stanford.edu/class/ee267/!
• piazza: https://piazza.com/class/jekn2ktpfag2g3 (see website)!
• contact: [email protected]!
!
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About EE 267 - Prerequisites!
• strong programming skills required (ideally JavaScript)!
do NOT take this course if you have not programmed!!
• basic linear algebra required – we will start dreaming in
4x4 matrices!
• introduction to computer graphics or vision helpful!
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About EE 267 – Lectures & Labs!• 2 lectures per week: Mo/Wed 3-4:20 pm, 200-034!
• 1 lab per week starting in week 1 (do at home, will release writeups with links to online tutorials and other important things)!
• you will need the skills of the lab to complete the homework, so do the lab first and then start working on the homework!!
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About EE 267 – Labs & Assignments!• labs and homeworks released every Friday!
• TA will help you get started in Friday office hours, finish weekly assignment/project on your own!
• 24h teaching lab access will be provided after first lab à Packard 001!
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About EE 267 – Lab Access!• review this website for lab policy: https://stanford.app.box.com/v/
Basic-Lab-Safety!
• to get ID access, email Steven Clark (EE teaching lab manager) your name & Sunet ID number (as well as an acknowledgement that you read the lab policy): [email protected] !
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About EE 267 – Office Hours!• Gordon (instructor): Mondays 2-3pm, Packard 236
come talk about projects, VR, course logistics, etc.!
!
• Hayato (TA): Tuesdays 9-10:30 am, Packard 001!• Marcus (TA): Wednesdays 1:30-3 pm, Packard 001!
• Robert (TA): Thursdays 4:30-6 pm, Packard 001!
come talk about labs, assignments, …!!
• TAs: Fridays 10-11:30 am, Packard 001!
lab & get started on homework!
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EE 267 – 3/4 unit version!Both versions:!• 6 assignments covering all aspects of VR tech: 2x basic computer
graphics, 2x perception+graphics+optics, 2x tracking!!
3 Unit version:!
• long 7th assignment / short project (2 weeks)!
• 1-2 page project report!!
4 Unit version:!
• major final project – hardware, software, or perceptual experiments!• 8 page project report required (more details later)!
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EE 267W – 5 unit WIM version!• satisfies writing in the major requirement!
• only available for undergraduates already enrolled in the 4 unit version!
• will get extra weekly writing and peer-reviewing assignments + 2 writing / presentation workshops!
• talk to instructors if you want to do this in first week of class!!
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Requirements and Grading!
• 6 assignments (teams of ≤ 2): 60%!• 80 minute in-class midterm: 10%!
!
• project (teams of ≤ 2): 30%!
• discuss project ideas with TA & instructor! !
• final presentation / demos: 6/6/2018 in teaching lab!• reports & code due: Thu in finals week, midnight!
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Course Projects!
• June 6: project demo + poster session !• emphasis is on demo, but some projects are better presented as posters!• see poster template on website!• celebrate your work and connect with students, faculty, and industry!!
• may invite many people from industry: Oculus, Google, Magic Leap, Intel, Nvidia, Olympus, Canon, …!
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Course Projects – ONLY for 4 unit version!• June 8: report + source code due (at midnight) !
• report = conference paper format 6-8 pages with !• abstract!• introduction!• related work !• your thing!• results, qualitative and quantitative evaluation!• discussion, future work, and conclusion!• references !• see latex template on website (will be there)!
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Possible Course Projects!
• be experimental!!
• for example:!• psycho-physical experiments (e.g. test stereo rendering with color/gray, low-res/high-res, …)!
• build an elaborate virtual environment, e.g. with unity!• hardware projects: IMU, positional tracking, eye tracking, haptics, …!
!
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Tentative Schedule!
http://stanford.edu/class/ee267/!