We present a new approach for redirected walking in static and dynamic scenes that uses techniques from robot motion planning to compute the redirection gains that steer the user on collision-free paths in the physical space. Our first contribution is a mathematical framework for redirected walking using concepts from motion planning and configuration spaces. This framework highlights various geometric and perceptual constraints that tend to make collision-free redirected walking difficult. We use our framework to propose an efficient solution to the redirection problem that uses the notion of visibility polygons to compute the free spaces in the physical environment and the virtual environment. The visibility polygon provides a concise representation of the entire space that is visible, and therefore walkable, to the user from their position within an environment. Using this representation of walkable space, we apply redirected walking to steer the user to regions of the visibility polygon in the physical environment that closely match the region that the user occupies in the visibility polygon in the virtual environment. We show that our algorithm is able to steer the user along paths that result in significantly fewer resets than existing state-of-the-art algorithms in both static and dynamic scenes. Our project website is available at https://gamma.umd.edu/vis_poly/.

翻译：我们提出了一个在静态和动态场景中改变行走方向的新方法,它使用机器人运动规划的技术来计算引导用户在物理空间的无碰撞路径上的调整收益。我们的第一个贡献是利用运动规划和配置空间的概念来改变行走方向的数学框架。这个框架突出各种几何和概念限制,这些限制往往使不碰撞改变行走方向变得困难。我们使用我们的框架来提出一个有效解决方向改变问题的办法,这种问题利用可见性多边形的概念来计算物理环境和虚拟环境中的自由空间。可见性多边形能够从一个环境中的用户的位置上简要地显示整个空间的可见,因此可以行走。我们使用这种可行走空间的表示方式,将用户引向物理环境中的可见性多边形区域,而这些区域与用户在虚拟环境中的可见性多边形十分接近。我们使用的算法能够引导用户沿着路径前进道路前进,这些路径比现有静态和动态场景的状态算法要少得多。我们的项目网站可在 http://tima_gamma.