TNM086 — VR Technology
Autumn 2023


This is the home page for the course TNM086 VR Technology. 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. To complete the course the students have to pass an oral examination, and complete and demonstrate 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! Youtube
"Virtual Reality: How Much Immersion is Enough?", Doug A. Bowman and Ryan P. McMahan 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
"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 Youtube
03 VR Software Principles PDF
H3D API Manual Web
OpenSceneGraph Quick Start Guide PDF
OpenSceneGraph Reference Manual Web
04 Tracking PDF
05 Augmented Reality PDF
"A Review of Current, Complete Augmented Reality Solutions", Ali Samini, Karljohan Lundin Palmerius and Patric Ljung, in Proceedings of International Conference on Cyberworlds, 2021 PDF
"Spatial Augmented Reality: Merging Real and Virtual Worlds", Bimber, Oliver, and Ramesh Raskar, AK Peters/CRC Press, 2019. PDF
06 Haptics PDF
"Review of designs for haptic data visualization", Sabrina Paneels and Jonathan C. Roberts, IEEE Transactions on Haptics, 2009 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
"A Survey on 3D Virtual Object Manipulation: From the Desktop to Immersive Virtual Environments", D. Mendes, F.M. Caputo, A. Giachetti, A. Ferreira and J. Jorge, Computer Graphics Forum, 38: 21-45, 2019 PDF
"Virtual Environment Interaction Techniques", Mark R. Mine PDF
08 Audio in VR PDF
HRTF example Web
Harpex HRTF examples Web
Aureal real-time simulated HRTF Youtube
RAYA real-time audio raytracing Youtube
"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
09 Summary, Applications and Future PDFPDF
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, however you are expected to do a substantial amount of work also between these sessions. Since there is a limited set of hardware you will have to be flexible and utilize free hours in your schedule to finish your assignments.

Rules for the VR-lab

To gain access to the VR labs it is necessary for each student to have viewed an instruction video, read the rules of the lab, and then completed an online access application form. 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.

Booking the VR-lab

After completing the access application form, access will be granted to the booking form. This can take anything from a day to several weeks.

The VR lab is shared between courses TNM093 and TNM086. Since we only have a limited amount of equipment, this is in short supply. Please be equitable in your use of the equipment.

Good etiquette declares that you should

Instructions for the VR-lab

Basic instructions on how to use the equipment is given in the instruction video that all students must watch before given access, however the more detailed step-by-step instructions necessary to actually run software and tools are provided in written form. They can be found both on the shared drive, linked above, and in a binder in the VR lab.


Lab 1 Scene Graphs instructions files models
Lab 2 VR Workbench instructions files models start.bat
Lab 3 Haptics instructions