We present LuVo, an initialization-free stereo visual odometry (VO) method developed for the VIPER lunar rover. We provide a novel stereo registration method using LightGlue image feature matching in a warped, locally planar space that improves matching robustness to larger baseline stereo sequences and repetitive terrain that traditionally challenge odometry approaches. We additionally introduce methods that increase the usable image region for matching by estimating a horizon cutoff in image space and enhance robustness to stereo correspondence failures using a Manhattan distance search for valid stereo points during cloud alignment. We evaluate the performance of LuVo on a dataset of 155 simulated lunar stereo sequences and show that it significantly improves registration accuracy and success rates for clouds separated by both expected driving ranges below eight meters and longer distance translations of up to 16 meters. While LuVo is developed for VIPER, it can be used in other environments featuring slip-prone and repetitive terrain that limit rover travel.

In the recent past 3D and immersive technologies were not supported by standard business and educational computers. Yet new generations of Intel and AMD processors and improved networking provide a basis for the spread of immersive technologies, into all aspects of education, business and leisure. Consequently, it is critical that computer science and IT degree programs facilitate the graduation of professionals with an understanding of and experience in working with immersive technologies. The work reported in this paper addresses the need to support learning about how to develop, engineer, use and evaluate 3D and immersive systems. The Apollo Virtual World GRID [1] provides a platform designed to support collaborative learning and exploratory project work with 3D technologies. Apollo provides an environment for the creation of 3D content, a framework for the development of 3D systems and a platform for the delivery of distributed immersive systems. It is built around the open source and freely available OpenSimulator project and extends it by providing educational content, a rapid application development environment and a measurement infrastructure. Using the Apollo GRID student projects have expanded the scope of experiential learning by creating interactive 3D environments that simulate specific learning contexts. For example a Virtual WiFi laboratory supports exploratory learning and experimentation with WiFi network protocols and the LAVA virtual fieldwork resource supports archaeologists in learning how to manage archaeological excavations. This paper reflects upon experience in using Apollo for 30 collaborative projects involving more than 100 students over a period of four years.

As the Internet continues to establish itself as a utility, like power, transport or water, it becomes increasingly important to provide an engaging educational experience about its operation for students in related STEM disciplines such as Computer Science and Electrical Engineering. Routing is a core functionality of the global Internet. It can be used as an example of where theory meets practice, where algorithms meet protocols and where science meets engineering. Routing protocols can be included in the Computer Science curriculum in distributed systems, computer networking, algorithms, data structures, and graph theory. While there is a plethora of computer networking textbooks, and copious information of varying quality about the Internet spread across the Web, there is still an essential need for exploratory learning facilities of the type that support group work, experimentation and experiential learning. This paper reports on work using open virtual worlds to provide a multiuser interactive learning environment for Internet routing which exemplifies the capabilities of emerging immersive education technologies to augment conventional practice. The functionality of the learning environment is illustrated through examples and the underlying system which was built to support the routing simulations is explained.

Continuing advances and reduced costs in computational power, graphics processors and network bandwidth have led to 3D immersive multi-user virtual worlds becoming increasingly accessible while offering an improved and engaging Quality of Experience. At the same time the functionality of the World Wide Web continues to expand alongside the computing infrastructure it runs on and pages can now routinely accommodate many forms of interactive multimedia components as standard features - streaming video for example. Inevitably there is an emerging expectation that the Web will expand further to incorporate immersive 3D environments. This is exciting because humans are well adapted to operating in 3D environments and it is challenging because existing software and skill sets are focused around competencies in 2D Web applications. Open Simulator (OpenSim) is a freely available open source tool-kit that empowers users to create and deploy their own 3D environments in the same way that anyone can create and deploy a Web site. Its characteristics can be seen as a set of references as to how the 3D Web could be instantiated. This paper describes experiments carried out with OpenSim to better understand network and system issues, and presents experience in using OpenSim to develop and deliver applications for education and cultural heritage. Evaluation is based upon observations of these applications in use and measurements of systems both in the lab and in the wild.

Virtual worlds continue to attract considerable interest as an innovative means of engaging students through the use of immersive, collaborative environments. They allow for the dynamic creation of content and for that content to be programmed. They empower students to explore learning environments that would be inaccessible to them in the real world. Learners achieve presence through the proxies of avatars, and consequently are aware of and may interact with fellow learners within the virtual environment. Interactivity ranges from simple exhibits as might be found in a museum to configurable, complex simulations rendered in a 3D space. At the same time there are now numerous open learning initiatives which seek to encourage the sharing of independently produced educational resources through the Internet, but these are mostly web-based, so the challenge of producing open learning materials based on virtual worlds remains. This paper identifies the challenges which need to be met to support the use of virtual world technologies in the emerging open learning context and presents two case studies of moving from 2D web-based learning environments to 3D virtual world versions of the same topic. These examples illustrate the type of innovative 3D learning environments that can be shared in the open learning context.