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This study presents a visual system for an avatar robot. The system uses eye-tracking data that are obtained from a head-mounted display (HMD) to perform camera focus control and foveated rendering on images that are captured by a stereo camera. Gaze information measured by the HMD is used to measure the point of fixation and control the distance between the two cameras. In the experiment, the operator wore the HMD, and virtual reality (VR) sickness was evaluated using subjective assessment methods: the Simulator Sickness Questionnaire, VR Sickness Questionnaire, and Fast Motion Sickness Scale. The superiority of the camera focus control with foveated rendering of the image was evaluated using the Wilcoxon signed-rank test. Most values of the test (p-values) were less than 0.05, indicating that the proposed method is effective in reducing visual fatigue and mitigating VR sickness. This advancement enhances depth perception, reduces VR sickness, and improves immersion during operation.

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Depth Perception Control Using Camera Focus Control and Foveated Rendering in the Visual System of an Avatar Robot

  • 会议论文

  • 发表日期：

    2026年

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  • Masaki Ohya,
  • Asuka Nakamura,
  • Hiroyuki Nakano,
  • Hideo Furuhashi

摘要

This study presents a visual system for an avatar robot. The system uses eye-tracking data that are obtained from a head-mounted display (HMD) to perform camera focus control and foveated rendering on images that are captured by a stereo camera. Gaze information measured by the HMD is used to measure the point of fixation and control the distance between the two cameras. In the experiment, the operator wore the HMD, and virtual reality (VR) sickness was evaluated using subjective assessment methods: the Simulator Sickness Questionnaire, VR Sickness Questionnaire, and Fast Motion Sickness Scale. The superiority of the camera focus control with foveated rendering of the image was evaluated using the Wilcoxon signed-rank test. Most values of the test (p-values) were less than 0.05, indicating that the proposed method is effective in reducing visual fatigue and mitigating VR sickness. This advancement enhances depth perception, reduces VR sickness, and improves immersion during operation.