TNM086 — VR Technology
Autumn 2019


This is the home page for the course Virtual Reality Technologies and Programming (TNM086). It contains current schedule and information about the course. All material distributed during the course will be linked to from this page (or there will be a description on where to find it).


The teaching in the course is based on lectures, with optional complementary reading, and laboratory exercises. The examination is oral examination and the completion of the laboratory exercises.




Karljohan Lundin Palmerius Giving lectures and oral examination, and supervising and examinating laboratory exercises. Web


00 Course information PDF
01 Introduction and human factors PDF
Attention video — follow the instructions! Web
"Human Factors Issues in Virtual Environments: A Review of the Literature", Kay M. Stanney, Ronald R. Mourant, Robert S. Kennedy PDF
"Virtual Reality: How Much Immersion is Enough?", Doug A. Bowman and Ryan P. McMahan PDF
"Measuring Presence in Virtual Environments: A Presence Questionnaire", Bob G. Witmer and Michael J. Singer PDF
"Being there: The experience of presence in mediated environments", Wijnand Ijsselsteijn and Giusseppe Riva PDF
"A Bayesian View on Multimodal Cue Integration", Marc Ernst, 2006 PDF
02 Display systems PDF
"Autostereoscopic 3D Displays", Niel A. Dodgson, ACM, 2005 PDF
"Large Displays in Automotive Design", William Buxton, George Fitzmaurice, Ravin Balakrishnan, and Gordon Kurtenbach, IEEE CG&A, 2000 PDF
"Projected Imagery in Your 'Office of the Future'", Greg Welch, Henry Fuchs, Ramesh Raskar, Herman Towles, Michael S. Brown, IEEE CG&A, 2000 PDF
"Designing and Building the PIT: a Head-Tracked Stereo Workspace for Two Users", Kevin Arthur, Timothy Preston, Russell M. Taylor II, Frederick P. Brooks, Jr., Mary C. Whitton and William V. Wright PDF
"More on Eye Tracking (or Lack Thereof) in Oculus Rift" — a discussion on camera positioning in HMDs Web
03 VR Software Principles PDF
H3D API Manual Web
OpenSceneGraph Quick Start Guide Web
OpenSceneGraph Reference Manual Web
04 Tracking PDF
05 Augmented Reality PDF
"UMAR - Ubiquitous Mobile Augmented Reality", Anders Henrysson and Mark Ollila PDF
"Virtual Object Manipulation using a Mobile Phone", Anders Henrysson, Mark Billinghurst and Mark Ollila PDF
"Registration methods for harmonious integration of real and computer generated objects", G. Simon, V. Lepetit and M.-O. Berger Web
06 Haptics PDF
"The Design of 3D Haptic Widgets", Timothy Miller and Robert Zeleznik, Symposium on Interactive 3D Graphics, 1999 PDF
"Haptic Rendering: Introductory Concepts", Kenneth Salisbury, Francois Conti and Federico Barbagli PDF
07 Interaction & Navigation PDF
"Moving Objects In Space: Exploiting Proprioception In Virtual-Environment Interaction", Mark R. Mine, Frederick P. Brooks Jr. and Carlo H. Sequin PDF
"Virtual Environment Interaction Techniques", Mark R. Mine PDF
"Image Plane Interaction Techniques In 3D Immersive Environments"a, Jeffrey S. Pierce, Andrew Forsberg, Matthew J. Conway, Seung Hong, Robert Zeleznik, Mark R. Mine PDF
08 Audio in VR PDF
HRTF example Web
Harpex HRTF examples Web
Aureal real-time simulated HRTF Web
RAYA real-time audio raytracing Web
"Design and user evaluation of a spatial audio system for blind users", S. H. Kurniawan, A. Sporka, V. Nemec and P. Slavik PDF
"Localization using nonindividualized head-related transfer functions", E. Wenzel, M. Arruda, D. Kistler and F. Wightman, 1993 PDF
"Headphone simulation of free-field listening. I: Stimulus synthesis", Frederic L. Wightman and Doris J. Kistler, 1988 PDF
09 Summary, Applications and Future PDF
The Gadget Show - Ultimate Battlefield 3 Simulator - Build & Test webm
Mike Alger: VR Interface Design Manifesto Youtube
Mike Alger: VR Interface Design Pre-Visualisation Methods Youtube

Laboratory Exercises

During the scheduled time there will be at least one lab-assistant present in the lab. Do not limit your work on your assignments to the scheduled hours. Since we a limited set of hardware you will have to be flexible and utilize free hours in your schedule to finish your assignments.

VR lab equipment can be booked in advance through an on-line booking scheme. Username and password to make bookings will be sent on the course e-mail list.

Good etiquette declares that you should

The equipment is in short supply and there are a lot of students on the course so please be equitable in your use of the equipment.

Rules for the VR-lab

To gain access to the VR labs it is necessary for each student to have read the rules of the lab, which are linked below, and then complete the access application form and return it. Only then will access be added to your key-card.

Students may be allowed to borrow equipment for projects or demonstrations. Such a loan is governed by the following agreement: Låneavtal.

Instructions for the VR-lab

Here are the instruction notes for the VR-lab. These are also available in printed copies by the equipment described by them.


Lab 0 Laboratory Platform instructions
Lab 1 Scene Graphs instructions files models
Lab 2 VR Workbench instructions files models
Lab 3 Haptics instructions