A simple example

Consider the following example to get a feeling for the latency problem. Let $ d$ be the density of the display in pixels per degree. Let $ \omega $ be the angular velocity of the head in degrees per second. Let $ \ell $ be the latency in seconds. Due to latency $ \ell $ and angular velocity $ \omega $, the image is shifted by $ d \omega \ell$ pixels. For example, if $ d = 40$ pixels per degree, $ \omega = 50$ degrees per second, and $ \ell = 0.02$ seconds, then the image is incorrectly displaced by $ d \omega \ell = 4$ pixels. An extremely fast head turn might be at $ 300$ degrees per second, which would result in a $ 24$-pixel error.

Steven M LaValle 2016-12-31