Perception Engineering (PE)

The Perception Engineering research group focuses on fundamental issues in virtual reality and robotics. We consider virtual reality broadly as a category that leverages the latest technologies and products in virtual reality (VR), augmented reality (AR), mixed reality (MR), and telepresence. We consider core robotics problems such as sensing, sensor fusion, planning, learning, and control.

We view VR as a problem of perception engineering, which requires the design, development, and delivery of a perceptual illusion through artificial stimulation of the human senses. Each human sense is capable of such illusions; in the case of vision, we are familiar with many optical illusions. Because VR directly impacts the human body and even disrupts its ordinary functions, it is crucial to understand human physiology, neuroscience, and perception and how they respond to VR technology. We strive to determine perception-based and physiology-based criteria that capture important qualities such as task effectiveness, comfort, and presence. These criteria are used to guide the engineering specifications for VR systems. Typical challenges are viewpoint movement, display artifacts, rendering methods, interaction mechanisms, distributed computation, and limitations of wireless communication.

Perception engineering involves the forward engineering of VR systems with the tight integration of low-level human considerations, which are essentially obtained via reverse engineering (we did not engineer ourselves). Based on current academic fields, this requires a highly interdisciplinary approach; however, one day perception engineers might emerge, who are specifically trained in methodologies based on the science of perception. This would follow a similar path as existing engineering fields. Civil, mechanical, and electrical engineering derive from physics. Chemical and biological engineering derive from chemistry and biology, respectively. Likewise, perception engineering should derive from perceptual psychology and related fields of physiology, medicine, and neuroscience, while also building upon existing engineering principles.


Topical

We are hiring: Postdoctoral Researcher, Robotics and Virtual Reality (application deadline on 31.08.2022)

Participate in our research studies


People

Anna LaValle : University Lecturer

Anna LaValle
University Lecturer
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Vadim Weinstein : Senior Research Fellow

Vadim Weinstein
Senior Research Fellow
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Scholar

Paula Alavesa : Postdoctoral researcher

Paula Alavesa
Postdoctoral researcher
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Scholar

Evan Center : Postdoctoral researcher

Evan Center
Postdoctoral researcher
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Matti Pouke : Postdoctoral researcher

Matti Pouke
Postdoctoral researcher
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Scholar

Başak Sakçak : Postdoctoral researcher

Başak Sakçak
Postdoctoral researcher
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Scholar

Markku Suomalainen : Postdoctoral researcher

Markku Suomalainen
Postdoctoral researcher
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Scholar  

Kalle Timperi : Postdoctoral researcher

Kalle Timperi
Postdoctoral researcher
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LinkedIn | Scholar

Kshitij Tiwari : Postdoctoral researcher

Kshitij Tiwari
Postdoctoral researcher
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Scholar

Eetu Laukka : Doctoral researcher

Eetu Laukka
Doctoral researcher
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LinkedIn

Katherine Mimnaugh : Doctoral researcher

Katherine Mimnaugh
Doctoral researcher
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Scholar

Adhi Widagdo : Doctoral researcher

Adhi Widagdo
Doctoral researcher
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Abdulsatar Aboud : Research Assistant

Abdulsatar Aboud
Research Assistant
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LinkedIn

Joona Halkola : Research Assistant

Joona Halkola
Research Assistant
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Aayush Kafle : Research Assistant

Aayush Kafle
Research Assistant
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LinkedIn

Juho Kalliokoski : Research Assistant

Juho Kalliokoski
Research Assistant
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LinkedIn

Sakaria Pouke : Research Assistant

Sakaria Pouke
Research Assistant
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GitHub

Ville Rompasaari : Research Assistant

Ville Rompasaari
Research Assistant
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LinkedIn

Elmeri Uotila : Research Assistant

Elmeri Uotila
Research Assistant
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LinkedIn GitHub

Alexis Chambers : Planning Officer

Alexis Chambers
Planning Officer
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Alex LaValle : Research Programmer

Alex LaValle
Research Programmer
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Jani Vallirinne : Project Coordinator

Jani Vallirinne
Project Coordinator
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Current Projects

CHiMP – Challenges Hidden in Motion Primitives (Academy of Finland)
HUMOR – HUMan Optimized xR (Business Finland and industry)
ILLUSIVE – Foundations of Perception Engineering (European Research Council)
PERCEPT – Human-Perception Based Planning and Filtering (Academy of Finland)
PIXIE – Plausibility Paradoxes in Scaled-Down Virtual Reality (Academy of Finland)
ViRTIA – Virtual Reality-Based Telepresence through Improved Autonomy (University of Oulu / Infotech)


Past Projects

COMBAT (Academy of Finland / Strategic Research Council)
HUMORcc (Business Finland)
TELETAPPIcc (Business Finland)


Selected Publications

LaValle S. Virtual Reality. Cambridge University Press, in press.
Virtual Reality book by Steven LaValle

2022
Arora N, Suomalainen M, Pouke M, Center EG, Mimnaugh KJ, Chambers AP, Pouke S & LaValle SM (2022) Augmenting immersive telepresence experience with a virtual body. IEEE Transactions on Visualization and Computer Graphics 28(5):2135-2145. https://doi.org/10.1109/TVCG.2022.3150473.

Baraldo A, Bascetta L, Caprotti F, Chourasiya S, Ferretti G, Ponti A & Sakçak B (2022) Automatic computation of bending sequences for wire bending machines. International Journal of Computer Integrated Manufacturing. https://doi.org/10.1080/0951192X.2022.2043563

Pakanen M, Alavesa P, van Berkel N, Koskela T & Ojala T (2022) “Nice to see you virtually”: Thoughtful design and evaluation of virtual avatar of the other user in AR and VR based telexistence systems. Entertainment Computing 40:100457. https://doi.org/10.1016/j.entcom.2021.100457

Pouke M, Center EG, Chambers AP, Pouke S, Ojala T & LaValle SM (2022) The body scaling effect and its impact on physics plausibility. Frontiers in Virtual Reality 3:869603. https://doi.org/10.3389/frvir.2022.869603

Sakçak B, Weinstein V & LaValle SM (2022) The limits of learning and planning: Minimal sufficient information transition systems. 15th International Workshop on the Algorithmic Foundations of Robotics (WAFR 2022), College Park, MD, USA, to appear.

Suomalainen M, Sakcak B, Widagdo A, Kalliokoski J, Mimnaugh KJ, Chambers AP, Ojala T & LaValle SM (2022) Unwinding rotations improves user comfort with immersive telepresence robots. Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022), Sapporo, Japan, 511-520.

2021
Mimnaugh KJ, Suomalainen M, Becerra I, Lozano E, Murrieta-Cid R & LaValle SM (2021) Analysis of user preferences for robot motions in immersive telepresence. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), Prague, Czech Republic, 4252-4259. https://doi.org/10.1109/IROS51168.2021.9636852

Nilles AQ, Ren Y, Becerra I & LaValle SM (2021) A visibility-based approach to computing nondeterministic bouncing strategies. The International Journal of Robotics Research 40(10-11):1196-1211. https://doi.org/10.1177%2F0278364921992788

Pouke M, Mimnaugh KJ, Chambers A, Ojala T & Lavalle SM (2021) The plausibility paradox for resized users in virtual environments. Frontiers in Virtual Reality 2:655744. https://doi.org/10.3389/frvir.2021.655744

Sakçak B & LaValle SM (2021) Complete path planning that simultaneously optimizes length and clearance. Proc. 2021 IEEE International Conference on Robotics and Automation (ICRA 2021), Xi’an, China, 10100-10106. https://doi.org/10.1109/ICRA48506.2021.9561784

Suomalainen M, Abu-dakka FJ & Kyrki V (2021) Imitation learning-based framework for learning 6-D linear compliant motions. Autonomous Robots 45:389–405. https://doi.org/10.1007/s10514-021-09971-y

Suomalainen M, Mimnaugh KJ, Becerra I, Lozano E, Murrieta-Cid R & LaValle SM (2021) Comfort and sickness while virtually aboard an autonomous telepresence robot. Proc. 18th EuroXR International Conference (EuroXR 2021), Milan, Italy, 3-24. https://doi.org/10.1007/978-3-030-90739-6_1

2020
Alavesa P, Pakanen M, Ojala T, Pouke M, Kukka H, Samodelkin A, Voroshilov A & Abdellatif M (2020) Embedding virtual environments into the physical world: Memorability and co-presence in the context of pervasive location-based games. Multimedia Tools and Applications 79, 3285–3309. https://doi.org/10.1007/s11042-018-7077-z.

Becerra I, Suomalainen M, Lozano E, Mimnaugh KJ, Murrieta-Cid R & LaValle SM (2020) Human perception-optimized planning for comfortable VR-based telepresence. IEEE Robotics and Automation Letters 5(4):6489-6496. https://doi.org/10.1109/LRA.2020.3015191

Browning MHEM, Mimnaugh KJ, van Riper CJ, Laurent HK & LaValle SM (2020) Can simulated nature support health? Comparing short, single-doses of 360-degree nature videos in virtual reality with the outdoors. Frontiers in Psychology 10:2667. https://dx.doi.org/10.3389%2Ffpsyg.2019.02667

Nilles AQ, Pervan A, Berrueta TA, Murphey TD & LaValle SM (2020) Requirements of collision-based micromanipulation. Proc. Algorithmic Foundations of Robotics XIV (WAFR 2020), 210-226. https://doi.org/10.1007/978-3-030-66723-8_13

Pakanen M, Alavesa P, Arhippainen L & Ojala T (2020) Stepping out of the classroom – Anticipated user experiences of web-based mirror world like virtual campus. International Journal of Virtual and Personal Learning Environments 10(1):1-23. https://doi.org/10.4018/IJVPLE.2020010101.

Pouke M, Mimnaugh K, Ojala T & LaValle SM (2020) The plausibility paradox for scaled-down users in virtual environments. Proc. 2020 IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR 2020), Atlanta, GA, USA, 913-921. https://doi.org/10.1109/VR46266.2020.00014

Suomalainen M, Nilles AQ & LaValle SM (2020) Virtual reality for robots. Proc. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), Las Vegas, NV, USA, 11458-11465. https://doi.org/10.1109/IROS45743.2020.9341344

Ylipulli J, Pouke M, Luusua A & Ojala T (2020) From hybrid spaces to “imagination cities”: A speculative approach to virtual reality. In: Willis KS & Aurigi A (eds.) The Routledge Companion to Smart Cities, Routledge, London. https://www.routledge.com/The-Routledge-Companion-to-Smart-Cities/Willis-Aurigi/p/book/9781138036673


Media

Virtual Reality – Steven LaValle

Virtual Reality - Steven LaValle

Nyt tuli kiire metaversumiin (Tekniikan Maailma 5/2022) (in Finnish)

Tekniikan Maailma: Nyt tuli kiire metaversumiin

Tiedon valossa: Virtuaalitodellisuuden uudet maailmat (in Finnish)

Tiedon valossa - Virtuaalitodelliseen uudet maailmat


Sponsors


EU & ERC


Academy of Finland


Business Finland


University of Oulu