A note on hybrid control of robotic spatial augmented reality

A robotic spatial augmented reality (RSAR) system combines robotics with spatial augmented reality (SAR) where cameras are used to recognize real objects, and projectors augment information and user interface directly on the surface of the real objects, rather than relying on mobile or wearable display devices. Hence, the control of a RSAR system requires handling of different types of control schemes at once such as classical inverse kinematics of simply linked bodies, inverse projections to find appropriate internal/external parameters of a projector, and geometric manipulation of a projection source image to increase the flexibility in control. In this paper, we outline a hybrid approach to control relevant control components in a coordinated manner, specially focused on application in a prototype RSAR system developed in ETRI.