Real-time Wall Outline Extraction for Redirected Walking

Existing redirected walking applications use accurate tracking systems to determine the position and orientation of the user within a designated tracking space. In order to plan redirection and to ensure the user's safety, it is necessary to define the walking area in advance. However, when using ad hoc redirected walking, this is not possible, because the user's surroundings are not known beforehand. This paper introduces an approach to reconstruct the geometry of the available walking area as an outline representing the walls and similar structures. The outline is generated in real-time using a commercial SLAM tracking device and will be used for a wall warner safety mechanism and a redirection planner.