Visualizing Occluded Physical Objects in Unfamiliar Outdoor Augmented Reality Environments

This paper describes techniques to allow both the visualization of hidden objects, and removal of real objects, for a mobile augmented reality user. A gesture based technique is also described which allows the user to select when to view occluded objects. By using the real-time modeling techniques of the Tinmith system, the user is able to create the required geometry to allow image based rendering techniques to be used to render corrected images on the user´s display. The images of the hidden objects are captured by a mobile robot platform that is controlled by the mobile user.