Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
DOI 10.1007/s10055-010-0176-4
Received: 24 April 2009 / Accepted: 12 October 2010 / Published online: 29 October 2010
Springer-Verlag London Limited 2010
Abstract The paper presents different issues dealing with these demonstrators are the results of the ongoing dialogue
both the preservation of cultural heritage using virtual between the archaeological requirements and the techno-
reality (VR) and augmented reality (AR) technologies in a logical solutions developed.
cultural context. While the VR/AR technologies are men-
tioned, the attention is paid to the 3D visualization, and 3D Keywords Underwater archaeology Mixed reality
interaction modalities illustrated through three different Virtual reality Augmented reality Cultural heritage
demonstrators: the VR demonstrators (immersive and Cultural computing
semi-immersive) and the AR demonstrator including tan-
gible user interfaces. To show the benefits of the VR and
AR technologies for studying and preserving cultural her- 1 Introduction
itage, we investigated the visualisation and interaction with
reconstructed underwater archaeological sites. The base Cultural computing (CC) implies the application of com-
idea behind using VR and AR techniques is to offer puter technology in the field of culture, arts, humanities or
archaeologists and general public new insights on the social sciences. It is an emerging field, and the answer to
reconstructed archaeological sites allowing archaeologists the computability of culture is not clear as mentioned by
to study directly from within the virtual site and allowing Wang (2009). For Tosa et al. (2009), the CC is a method
the general public to immersively explore a realistic for cultural translation that uses scientific methods to rep-
reconstruction of the sites. Both activities are based on the resent the essential aspects of culture. An other definition
same VR engine, but drastically differ in the way they of CC can be given as a computer technology that can
present information and exploit interaction modalities. The enhance, extend and transform human creative products
visualisation and interaction techniques developed through and processes (CC 2009). Virtual and augmented reality
technologies will provide new means to create and trans-
form culture. On the one hand, VR technology provides us
M. Haydar (&) D. Roussel M. Maı̈di S. Otmane with the possibility of immersion within multimodal
M. Mallem
interactions (audio, video and haptics) to enhance user
Laboratoire IBISC, Université d’Evry, 40 rue du Pelvoux,
91020 Evry, France presence in digitalised culture (digital theatre, digital
e-mail: mahmoud.haydar@ibisc.fr dance, digital music, digital heritage, etc.). On the other
D. Roussel hand, AR or mixed reality technology provides us with the
e-mail: david.roussel@ibisc.fr possibility to extend, transform and combine different
M. Maı̈di cultures in the same mixed environment (for example
e-mail: madjid.maidi@ibisc.fr combine object from digital dance with others from digital
S. Otmane music over space and time). However, we need to develop
e-mail: samir.otmane@ibisc.fr new interfaces and new interaction metaphors to allow 3D
M. Mallem visualisation of culture and 3D interaction with different
e-mail: malik.mallem@ibisc.fr objects of such culture. In this paper, we focus our
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contribution on the domain of archaeology by developing alliance between the huge amounts of information col-
interfaces and new interactions for both presentation of lected in the field and graphical representation which
existing archaeological underwater sites including inter- supports the analysis. The GIS graphical representations
actions with artefacts in a cultural context as well as most often originate from cartography, that is to say
developing tools for preserving cultural heritage. merging vectors, images, and symbology in 2D visualiza-
Most of the work mentioned in this paper is related to tion tools. The old culture of chart reading is very useful in
research & development performed within the VENUS the use of GIS and probably one of the obstacles in the way
project (Virtual Exploration of Underwater Sites), spon- of a truly 3D GIS. As a matter of fact, even without the
sored by the European Community. The main goal of the realistic representation, the strength of the GIS is linked to
VENUS project is to provide scientific methodologies and the symbolic cartographic representation of the data
technological tools for the virtual exploration of deep offering a synthetic expression of the data analysis. If the
underwater archaeological sites. Such sites are generally 2D representation is sufficient to demonstrate the archae-
out of reach for divers and require new technologies and ological work concerning an urban scale or larger, applied
tools in order to be surveyed by archaeologists. The first to a period for which traces of the elevations do not exist, it
step of the proposed methodology consists in performing a is far from being the same when one is studying a building,
bathymetric and photogrammetric survey of the site with or in this present case, a ship. The need for a 3D repre-
remote operated or autonomous underwater vehicle. sentation is then of first importance and the global under-
Bathymetric and photogrammetric data are then used to standing of the study revolved around that kind of
reconstruct the seabed while photogrammetric data are representation. For instance, Karma VI was an interface for
processed in the ‘‘Arpenteur’’ photogrammetric tool1 that ESRI’s spatial Database Engine (which produced the arc-
measures points on artefacts (in our case Amphorae) from GIS more recently) that supports powerful visualization,
several geolocalised points of view in order to reconstruct manipulation, and editing of standard GIS data in a VR
artefacts shapes, dimensions and location which are then environment (Germs et al. 1999), However, as mentioned
stored in an archaeological database for further examina- by Vote et al. (2002): ‘‘these Immersive Virtual Reality
tion by archaeologists. Our role in the project consists in applications weren’t developed for archaeological inquiry
gathering the reconstructed elements in an immersive vir- and therefore don’t consider the specific research tasks
tual environment (VE) providing tools for archaeologists to archaeologists need to perform’’. Therefore, specially tai-
survey such virtual sites in the most natural and easy way lored multimedia databases have been developed to con-
as possible. We have developed several ‘‘demonstrators’’ in nect field measurements and findings to VR visualisation
order to assess the benefits of virtual and augmented reality tools such as the one developed in the 3D Murale project
(VR & AR) in the field of underwater archaeology. All the (Cosmas et al. 2001). Although efforts have been provided
demonstrators are based on the same VR engine described in underwater archaeology to turn underwater photogram-
in Sect. 3.2.1, but drastically differ in the input and output metric surveys into interactive virtual environments as
modalities: The most simple demonstrator is called the mentioned in Drap and Long (2001) which used VRML
‘‘low end’’ demonstrator and offers all the functionalities on output for 3D visualisation purposes, one the goals of the
a simple laptop. The virtual reality demonstrators (respec- archaeological demonstrator within VENUS project is to
tively the semi-immersive and immersive demonstrators) transport archaeologists within such a reconstructed
use large screen or head-mounted stereo display to enhance archaeological site but most of all allow them to interact
immersion and allow interaction with 3D joysticks. Finally, with the gathered data by connecting tools in the VE to an
the augmented reality demonstrator features a real map of underlying archaeological database.
the site augmented with virtual elements where interaction
is provided through the use of various tangible tools related 2.1 Immersive virtual reality
to the corresponding tools of the VE.
First of all, we need to establish a definition of immersive
virtual reality. A commonly accepted definition of virtual
2 Related work reality has been provided by Rheingold (1991) as an
experience in which a person is ‘‘surrounded by a three
Drap and Long (2001) mentioned that for many years dimensional computer generated representation, and is
Geographic Information Systems have become common able to move around in the virtual world and see it from
tools for archaeologists who see in this technology the different angles, to reach into it, grab it, and reshape it’’.
Cruz-Neira et al. (1993) have proposed a definition more
1
‘‘Arpenteur’’ photogrammetric tool is developed by Pierre Drap’s confined to the visual domain: ‘‘a VR system is one
team at LSIS, in Marseille, France (Drap and Grussenmeyer 2000). which provides real time viewer centered head tracking
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perspective with a large angle of view, interactive control, workstation. Bowman et al. (2002) also studied human
and binocular display’’. However, all definitions of VR behaviour and performance between an HMD and a four-
agree on three distinctive features: (1) immersion, (2) sided spatially immersive display (SID or CAVE). In par-
interaction and (3) real time. Billinghurst et al. (1998) ticular, he studied users’ preferences for natural orientation
defined three kinds of information presentation paradigms (user turns his head or entire body naturally while making a
requiring increasingly complex head tracking technologies: turn) versus manual orientation (user uses the joystick to
rotate the world about its vertical axis) in the virtual
• In ‘‘Head stabilised’’ information is fixed to the user’s
environment. The results indicated that participants have a
viewpoint and does not change as the user changes
significant preference for the natural rotation with the
viewpoint orientation or position. Any VR system that
HMD and for manual rotation in the SID. This suggests
does not provide tracking is then considered as ‘‘Head
that HMDs are an appropriate choice when users perform
stabilised’’. In the VENUS project, the low-end dem-
frequent turns and require spatial orientation. Even though
onstrator running on a laptop with no tracking devices
HMD’s field of view and resolution have drastically
could be considered as a ‘‘Head stabilised’’ system.
increased lately, one can not consider HMD’s field of view
• In ‘‘Body stabilised’’ information is fixed relative to the
as larger than standing in front of large screen or several
user’s body position and varies as the user changes
screens (in the case of a CAVE); however, this drawback is
viewpoint orientation, but not as they change position.
easily compensated by the ‘‘look around’’ features provided
The semi-immersive and immersive demonstrators are
by tracked HMDs: By tracking head orientation, the user
‘‘Body stabilised’’ systems since head’s orientation
experiences a hemispherical information surround—in
changes viewpoint, but motion within the virtual
effect a ‘‘hundred million pixel display’’ and nowadays
environment is controlled with 3D joysticks rather than
even more as (Reichlen 1993) coined this term.
head’s position.
• And finally in ‘‘ World stabilised’’ information is fixed
2.2 Virtual reality applied to archaeology
to real world locations and varies as the user changes
viewpoint orientation and position. The augmented
Even though archaeology benefits from information tech-
reality demonstrator is typically a ‘‘world stabilised’’
nology for many years through web publications of
system, as position and orientation of the viewpoints
research and findings Hall et al. (1997) and Watts and
needs to be computed in order to register the virtual
Knoerl (2007), very few attempts have been proposed to
environment over the real map. However, the immer-
immerse users within an archaeological virtual reality such
sive demonstrator could also use body motion in a
as the one defined above. More specifically, virtual reality
‘‘World stabilised’’ way for small motion within the
has been considered in this field as a visualisation tool until
tracking space, and whereas ‘‘ Body stabilised’’ is
now. For instance, VR display of ancient Greece for the
considered when travelling through the environment
broad public by the Foundation of the Hellenic World in a
with the 3D joysticks.
museum has received an enthusiastic welcome (Gaitatzes
et al. 2001); however, (Barceló 2000) stressed that virtual
2.1.1 Immersion with head-mounted displays reality in the archaeology field should not be used only as a
visualisation tool but also as a way to manipulate the
The main difference between the semi-immersive and the archaeological interpretation. The ARCHAVE system cre-
immersive demonstrator is the use of a head-mounted ated by Vote et al. (2002) and dedicated to the archaeo-
display (HMD) as the display device in the immersive logical analysis in VR of the excavated finds from the Great
demonstrator. We call it ‘‘fully’’ immersive as the HMD is Temple site at Petra, Jordan, provided some interesting
tracked by an optical ART (2009) system, so that the user outcomes on the use of immersive VR for archaeology:
can look around. Ruddle et al. (1999) found that the ability The system used a CAVE for display and was interfaced
to look around with HMD allowed users to be less static in with an artefact database containing over 250,000 cata-
the environment, as they do not have to stop travelling, take logued finds. Concerning visualisation, using an immersive
a look around and choose a new travel direction since CAVE allowed to examine the data in the context of a ‘‘life
looking around is allowed during travel: On average, par- size’’ representation; the immersive VR visualization gave
ticipants who were immersed in the virtual environment the archaeologists the opportunity to explore a site in a new
using the HMD navigated the environment twelve per cent and dynamic way and, in several cases enabled them to
faster. The decreased time was attributed to the partici- make discoveries that opened new lines of investigation
pants utilising the ability to ‘‘look around’’ while they were about the excavation. However (as mentioned by Acevedo
moving when immersed, as the participants spent eight et al. 2001), archaeologists ‘‘consistently needed an easily
per cent more time stationary when using a desktop accessible overview of the model, much like the experience
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they obtain by flying high up over the virtual model, so they superimposed virtual objects. Rather than replacing the real
could study how the different artefacts were distributed world, the user is immersed in an environment where the
over the entire site’’. This problem has been addressed by virtual and real objects coexist in the same space.
accessing a ‘‘Miniature model for a site wide analysis’’ at Interaction with the augmented environment is per-
any time during exploration. formed with tangible user interfaces (TUIs) that use
Van Dam et al. (2002) propose a review of experiments physical objects as tools to establish an interface with the
in immersive VR for scientific visualisation including the virtual environment. The TUI provides a natural and
above-mentioned ARCHAVE system. Clearly, visualisa- intuitive interface, a user can manipulate virtual 3D objects
tion by itself will not solve the problem of understanding by simply handling physical objects. A considerable
truly large datasets that would overwhelm both display and amount of research has been done in the domain of TUIs,
human vision system. They advocate a human computer and new human computer interaction approaches were
partnership that uses algorithmic culling and feature proposed to improve the physical interaction with compu-
detection used to identify small fraction of the data that tational media. Kato et al. (2000) implemented table top
should be visually examined in detail by the human. AR environments with conventional markers and paddles
Immersive VR could then be a potent tool to let humans for object manipulation. They advocate designing the form
‘‘see’’ patterns, trends and anomalies in their data well of physical objects in the interface using established tan-
beyond what they can do with conventional 3D desktop gible user interface design methods. Some of the tangible
displays. The immersive surrounding context provides a design principles include:
kinesthetic depth perception that helps users to better
• Object affordances should match the physical con-
apprehend 3D structures and spatial relationships. It makes
straints of the object to the requirements of the task.
size, distance and angle judgments easier since it is more
• The ability to support parallel activity where multiple
like in being in the real world than looking through the
objects or interface elements are being manipulated at
screen of a desktop monitor to the world behind it; the
once.
advantages arise from the difference between ‘‘looking at’’
• Support for physically based interaction techniques
a 2D image of a 3D environment on a conventional display
(such as using object proximity or spatial relations).
screen and ‘‘being in’’ that 3D environment and basing
• The form of objects should encourage and support
spatial judgments relative to one’s own moving body.
spatial manipulation
Concerning 3D interactions, (Hinckley et al. 1997) pre-
• Support for multihanded interaction.
sented a formal user study of interactive 3D virtual sphere
with multidimensional input devices and found out that So that in an AR interface, the physical objects can
multidimensional input tasks presented a clear advantage further be enhanced in ways not normally possible such as
over conventional devices. The study provides clear evi- providing dynamic information overlay, context sensitive
dence that test users were able to take advantage of the visual appearance and physically based interactions.
integrated control of 3D to perform a task more quickly One of the most obvious benefits of tangible user
than with 2D input techniques. interface pointed out by Kato et al. (2000) is that users do
not need to learn any complicated computer interface or
2.3 Augmented reality and tangible interfaces command set to use tangible interfaces.
Azuma et al. (2001) define an AR system as a system that 2.4 Augmented reality applied to archaeology
‘‘supplements the real world with virtual (computer gen-
erated) objects that appear to coexist in the same space as Augmented or Mixed Reality could be applied to archae-
the real world’’. Moreover, the system should feature ological field in several ways: The first and most obvious
characteristics quite similar to VR features mentioned way is an ‘‘on site’’ or outdoor augmentation performed on
above such as: mobile devices as an ‘‘augmented walkthrough’’. ‘‘On site’’
augmentations generally focus on the correct registration of
• combines real and virtual objects in a real environment;
virtual elements over real ones and interactions with virtual
• runs interactively (2), and in real time(3); and
content depends on the mobile device used as there is no
• registers (aligns) real and virtual objects with each
workplace covered by sensors to support tangible interac-
other.
tions for instance. In this context, the Archeoguide project
On the one hand, virtual reality technologies immerse (Vlahakis et al. 2002) is a good example of such a para-
the user in a synthetic environment in which, he cannot see digm by enhancing the archaeological site of Olympia in
the real world around him. On the other hand, augmented Greece with augmented views of reconstructed ruins. The
reality allows the user to see the real environment with second way to apply AR to the archaeological field is an
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‘‘off-site’’ or indoor augmentation. ‘‘Off-site’’ augmenta- of a 3D environment on a conventional display screen and
tion generally relies on a tracked workspace where users ‘‘being in’’ that 3D environment and basing spatial judg-
can then focus on interactions with the virtual content such ments relative to one’s own moving body. On the other
as in the VITA project presented (Benko et al. 2004) where hand, by combining augmented reality techniques with
archaeologists can review the findings and layers of an tangible user interface elements, we can create interfaces in
excavation of the acropolis at Monte Polizzo, Western which users can interact with spatial data as easy as real
Sicily. Users can then cooperate by combining speech, objects. Tangible AR interfaces remove the separation
touch and 3D hand gestures over either a ‘‘world in mini- between the real and virtual worlds and so enhance natural
ature’’ (WIM) representation or a life-size model of a interactions. The semi-immersive demonstrator is based on
portion of the excavation. Since Archaeologists are used to a large stereo display, and 3D navigation and interaction
report all findings on a map for off-site review, the ‘‘World are based on 3D wireless joysticks (also called ‘‘flysticks’’).
in Miniature’’ paradigm can then be used to augment such a The immersive demonstrator is based on the same navi-
map as presented in Sect. 3.3. gation and interaction devices but uses a tracked HMD to
provide complete surroundings to the user. And finally the
augmented reality demonstrator is based on a camera
3 Virtual and augmented reality for underwater tracking system associated with a see through HMD reg-
archaeology istering the users viewpoint and allowing interaction with
tangible interfaces over a map of the site.
Before starting to build virtual environments reflecting the
surveys performed on wreck sites, a case study has been 3.1 Tracking technologies
performed on a typical underwater archaeological survey,
and archaeologists were interviewed concerning the The tracking technology is an optical tracking from ART
requirements of such virtual environments. Archaeologists (2009) using two infrared cameras (see Fig. 6) for tracking
are mainly interested in the cargo that leads to determine unique patterns composed of retroreflective balls that could
the period of the wreck but also in the environment which be used as input devices such as flysticks and handles or
could explain the artefacts’ layout. A full list of require- head-tracked devices such as LCD glasses or HMD.
ments was built concerning visualisation (full view and Optical tracking allows users to wear or handle any wire-
close range), navigation (free navigation, artefact’s-based less devices as long as they can be equipped with unique
navigation or diver’s navigation) and interaction (artefact’s retroreflective balls pattern (as shown in Fig. 1).
individual data facts, inventory and artefacts statistics in The ART system is capable of measuring position and
terms of types, dimensions, locations and fragment status orientation of several patterns at the same time (up to 64
for broken artefacts). These requirements were later balls) at a 60 Hz measure rate (54 Hz if LCD shutter
transposed into a list of features implemented in various glasses synchronisation is required). The achievable accu-
ways within the different demonstrators. racy of the tracking system is 0.4 mm for position and
Although all proposed technologies have been already 0.12 for orientation within a 3 9 3 9 3 m volume.
used in other fields, and even though computer graphics is a However, the average measured accuracy precision of the
common tool to represent cultural heritage findings and system is actually between 0.5 and 2 mm for position and
results, our goal is to introduce VR and AR technology as a 0.3 for orientation due to slow decalibration of the system
working tool for archaeologists allowing them to perform over several months, which could be easily corrected by a
actual archaeological tasks rather than just a presentation system recalibration from time to time.
tool as there is no previous such systems in underwater
archaeology. 3.2 Virtual reality demonstrators
Within the framework of the VENUS project, we pro-
pose two distinct forms for the archaeological demonstrator We developed two versions of the VR application that uses
featuring both VR semi-immersive and VR immersive different devices technology. The first version works with
technologies. The immersive surrounding context of VR simple input/output devices (mouse, keyboard and moni-
provides a kinesthetic depth perception that lets users better tor) in order to easily run the demonstrator without needing
apprehend 3D structures and spatial relationships. It makes any specific devices that can be difficult to transport.
size, distance and angle judgments easier since it is more In the second version, we employed more advanced
like being in the real world than looking through the screen visualisation and tracking devices to offer a semi or com-
of a desktop monitor to the world behind it; the advantages plete immersive navigation and more natural interaction
arise from the difference between ‘‘looking at’’ a 2D image with the environment.
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Fig. 1 Tracking devices: a ART tracking camera, b flystick, c tracked LCD glasses and d tracked HMD
3.2.1 Virtual reality system description • Seabed: Seabed meshes are loaded from an XML file
containing 3D vertices and texture information.
This section presents the structure and the construction of • Artefacts: An initial request to the database is per-
virtual environment and the corresponding virtual reality formed to retrieve artefacts parameters such as location,
system. orientation, status and artefacts models. Then, regis-
tered artefacts and markers 3D models are loaded.
3.2.1.1 Virtual environment structure All virtual envi- • Virtual Environment: These elements are placed in the
ronments for the VENUS project are developed around the virtual environment, and navigation and interaction
‘‘OpenScenegraph’’ (OSG) open source high performance managers are started. When 3D interaction devices are
3D graphics toolkit for VE modelling and visualization available, a connection to input devices is opened by
(Burns and Osfield 2004). The choice of OSG was moti- using a VRPN server (Taylor II et al. 2001). The
vated by the need of a high-level API abstracting rendering interaction manager handles inputs and eventually
features for the 3D objects, scene control and cameras sends queries to the database.
views management, which is also flexible enough to
develop specially tailored visualisations and interactions
3.2.1.2 Virtual reality system architecture The architec-
techniques wherever they are necessary. The main structure
ture of the VR system is composed of a database containing
of the VE developed for archaeologists contains the various
all required data such as photos, artefacts parameters, 2D/3D
seabeds (large bathymetric seabed and photogrammetric
objects location, etc (see Fig. 2). The archaeological data-
seabed with textures) and the various artefacts (in our case
base contains the pictures taken during the survey and the 2D
amphorae) lying on the seabed and recorded in the
and 3D points of artefacts lying on the seabed measured
database.
during the photogrammetry process. When these points are
The construction of the VE is divided into 3 principal
labelled to belong to a recognised artefact type, an actual
steps:
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Fig. 3 Tools in the virtual environment recognized this task as the most common to all virtual
environments. It allows users to explore, investigate and/or
artefact could then be reconstructed in terms of location, operate in a virtual space. They identified two main com-
orientation and size, and all these artefacts’ parameters are ponents for navigation: travel and way finding (Bowman
stored in the database. Therefore, such a database could be et al. 1997), where they classified the different navigation
shared between the photogrammetric reconstruction process techniques into three basic motion tasks: the choice of
and the virtual environments designed to immersively direction or target, the choice of motion speed/acceleration
explore the site. In order for VE users to extract and study and choice of entry conditions (Bowman et al. 2005). For
properties of the cargo (registered artefacts), users interac- 3D interaction, we used 2 flysticks tracked by an ART
tion with artefacts are translated into SQL queries sent to the camera system that allows motion control and hence nav-
database, and results are displayed through selections or igation, and each flystick has 8 buttons and offers important
numeric data display depending on the nature of the results. number of choice to accomplish multiple tasks simulta-
Queries to the database can concern partial or complete neously. Display can be performed by a large screen with
inventory, metrology statistics (average size, similar sets, active stereo visualization or by a tracked head-mounted
etc.) or spatial relationships between artefacts. display (HMD) to increase immersion (see Fig. 4 for
tracked devices details).
3.2.1.3 Virtual reality interface and interactions The VE A new navigation technique has been developed (Haydar
interface is composed of many classical tools: menu bar, et al. 2009) using both hands to determine motion direction
information panel and popup message. The menu bar and control speed. A similar technique has been proposed
contains multiple submenus, the first menu is a selection by Mine et al. (1997) and is based on the knowledge of both
menu that proposes visualization/selection of any type of hands position where speed is computed according to the
artefacts registered in the site, the second menu allows to distance between the two hands. Such a technique is cog-
switch between analysis and exploring navigation mode, nitively difficult because the user may have difficulty in
the third one allows to hide some parts (terrain) of the VE controlling the motion speed through the gap between his
to highlight others parts (artefacts). Otherwise, several two hands. We used the angle between the hands rather than
classical menus are provided by the interface, like, font and the distance that is easier to control. The motion direction is
colour manager, help and exit menu. The information panel then given by the orthogonal axis to the segment joining
displayed on the bottom of the VE (Fig. 3) shows infor- hands positions. The viewpoint of the user is defined by
mation about objects loading progress, user location or two 3D points, the eye point and the at point. Changing
interaction result (e.g. amphora Id 21 was selected). A 3D user’s viewpoint can be a translation of the viewpoint, or a
popup message is displayed when the mouse passes over an rotation, or both translation and rotation. A viewpoint
object (or when the flystick selection ray casts an objects) translation can be done by translating both eye and at points
showing the type of the objects or other information on while a rotation is done by a rotation of the at point around
selected objects. the eye point. The motion speed is defined by the value of
3D interactions with a virtual environment can be the translation step and the value of the rotation angle in
divided into three principal tasks: navigation, selection and each frame update. Motion speed is computed according to
manipulation. The navigation or the control of the user’s angle a between the hands. The rotation direction and speed
viewpoint is the most important task and most used when is given by the angle b between the segment joining hands
using the virtual environment. Bowman et al. (2005) positions and the horizontal axis (Fig. 5).
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Since archaeologists interest is mainly focused on the nature The first step in AR VENUS is to project the 3D models of
of the cargo one of the first feedbacks from archaeologists the seabed on the real 2D map using a system of visual
concerning VR demonstrators was that immersive naviga- markers identification and a pose estimation algorithm. For
tion did not provide much help to archaeological tasks in this visual tracking module, we used a simple webcam for
opposition to general public concerns where immersive tracking visual markers made up with printed 60 9 60 mm
navigation provides a deeper experience of a site. This black and white fiducials. The tracking algorithm computes
observation leads us to propose an augmented map-based the real camera position and orientation relative to the
navigation paradigm such as the ‘‘World in Miniature’’ physical markers in real time and also identify the content
of the fiducial as a unique identifier (see Fig. 8b). Some
2
http://raxenv.brgm.fr/. fiducials are stuck on the real map in order to compute the
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shift between the virtual model and the real one represented
on the 2D map. The size ratio between the small target and
the large map did not provide a correct registration, which
led us after trying a larger target to consider a multitarget
tracking approach since these targets are lying on the same
map plane.
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target uses the same principle of a two-sided tile used The goal of the workshop was to present the already
for selection tool in order to provide two different grid developed features to archaeologists but also to trigger
steps. Tracking the targets on the tile is not important in feedbacks by having the archaeologists actually experiment
this case, as only target recognition is used to trigger the demonstrator by themselves. After a short presentation
the two possible grids. of the goals and means of the archaeologists demonstrators
and a quick demo of the main features, each of the
archaeologists was asked to perform the following tasks:
• Artefacts group selection.
4 Evaluation
• Individual artefact selection.
• Circular area selection.
Some recent work (Dünser et al. 2008; Domingues et al.
• Distance measuring between two artefacts.
2008) addressing the evaluation problems in VR and AR
• Add an annotation on the site, modify it then remove
systems confirms the domination of objective and subjec-
the annotation.
tive measurement. Objective and subjective measurements
• Switch between seabed display mode (regular ? grid
are measurements methods used in empirical evaluations.
? topographic)
Usually, we found these measurements in many evalua-
• Display snapshot locations and images related to an
tions (McMahan and Bowman 2007; Looser et al. 2007;
artefact.
Bowman et al. 2002). Objective measurements are studies
that include objective measurements such as completion The survey was conducted individually with 11
times, accuracy/error rates and generally, statistical analyses archaeologists on two laptops running the low-end dem-
are made on the measured variables. Subjective measure- onstrator. By the end of the test, they were asked to fill in a
ment studies users using questionnaires. They also employ questionnaire dedicated to help us pointing what is good
statistical analysis of the results or a descriptive analysis. and bad in the VR demonstrator for archaeologists.
The first questionnaire was about participant skills and
4.1 Subjective evaluation habits concerning computer usage and more specifically
the use of 3D and VR software as well as their current state
The functionalities offered by the various demonstrators by the end of the test. The second questionnaire was about
have been evaluated by archaeologists during a workshop. the usability of the archaeological demonstrator in terms of
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navigation, interaction, accessing the tools and displayed 4.1.1.1 Navigatio Navigation (whether free or guided by
data. The third questionnaire referred to users’ satisfaction the artefacts) was considered as easy (or very easy) by 64%
and allowed users to suggest improvements. The exploi- of the users; however, 36% gave marks between 2 and 3
tation of these evaluation results is part of the validation of that tends to indicate they encountered some difficulty in
developed software as well as part of an iterative cycle navigating. This might explain the suggestions for new
methodology. This workshop was a unique opportunity navigation modes (such as diver’s mode) we have found in
to get feedback from a large panel of (well known) the possible improvements.
archaeologists.
The survey has been performed by 7 women and 4 men, 4.1.1.2 Interaction Interaction marks features the same
aged between 31 and 60 with an average of 43 ± 10 years distribution as navigation, 64 % found it easy and 36 %
old, hence providing a rather senior researchers panel. encountered some difficulties. Once again, this might
Most of them are using computers on a daily basis. More explain the number of improvements requests concerning
than half of the users have already used 3D software, and a the ‘‘Interaction with artefacts’’ feature (14 improvements
bit less than a half of them already used virtual reality requests out of 27).
software.
4.1.1.3 Tools access Tools are mainly situated in the
4.1.1 Usability menu and were considered as easy by a majority of 73% of
the users; however, 27% of them gave a mark of 3 and
Users were asked to rank the difficulty (on a 1–5 scale) of would have appreciated a clear separation of tools and
various aspects of the demonstrator such as navigation, various options in the menu.
interaction, accessing tools and also rank whether data
display associated with various selection methods were 4.1.1.4 Individual data facts Individual data facts pre-
satisfying. Individual data facts refer to the data sheet senting the data sheet of a selected artefact were considered
associated with a single selected object (as shown on as satisfactory by 55% of the users; however, this also
Fig. 11), type data facts refer to the information displayed means that 45% of them were not satisfied or at least had
by selecting all instances of a specific type of artefact (see not a good opinion of it. This also shows through the
also Fig. 12) and area data facts refer to the information improvements request as 5 of them directly concerned
displayed during area-based selection (see also Fig. 13). ‘‘Individual data facts’’. The comments made on this
Figure 10 presents the assessments of these various topics. point focused on the numerical aspect of the information
The following analysis on the most frequent actions is presented to the user (location and statistics), whereas
based on the results of the questionnaires as well as they would have appreciated pieces of information
archaeologists’ comments during the test written down by like orientation and tilt or object visual reference (as dis-
the two experimenters. played in classical artefacts catalogues such as the Dressel
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catalogue), which has been partially fulfilled by a new enhancement of selected artefacts’’ occurred 4 times in the
information panel (see Fig. 11). survey.
4.1.1.5 Type data facts Type data facts present the exact 4.1.1.6 Area data facts 55% of the users were satisfied
opposite repartition, as 45% of the users only were satisfied by information panel displayed during circular area selec-
by the information displayed by selecting types. Once tion featuring the population of selected artefacts showing
again, the numerical nature of the information panel artefacts’ type and occurrences (see Fig. 13). But 45% had
(see Fig. 12) could have been enhanced by showing an no opinion of were dissatisfied once again by the numerical
instance (the 3D model) of the selected type in the infor- nature of the information panel that could have been
mation panel. Besides, selecting types lead to a viewpoint enhanced with artefacts type silhouettes.
change encompassing all instances of the selected type as This subjective evaluation performed with archaeolo-
well as a highlight of the selected artefacts. As a matter of gists allowed us to improve the core functionalities of the
fact, this highlighting could have easily been confused demonstrators and also add some new features to the virtual
with fracture lines on artefacts (see also Fig. 12) repre- environment such as ‘‘diver’s navigation’’ mode that allows
senting broken artefacts at the moment, and this might also archaeologists to review the site and measured artefacts just
explain why the improvement request concerning a ‘‘better like divers would during the photogrammetric survey.
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