Title :
A note on hybrid control of robotic spatial augmented reality
Author :
Lee, Joo-Haeng ; Kim, Junho ; Kim, Hyun
Author_Institution :
Robot & Cognitive Syst. Res. Dept., ETRI, Daejeon, South Korea
Abstract :
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.
Keywords :
augmented reality; computational geometry; control engineering computing; image sensors; object recognition; robot kinematics; user interfaces; ETRI; RSAR system; geometric manipulation; hybrid control; inverse kinematics; inverse projections; mobile devices; object recognition; projection source image; projectors augment information; robotic spatial augmented reality system; user interface; wearable display devices; Augmented reality; Kinematics; Mobile communication; Prototypes; Redundancy; Robot kinematics; image manipulation; inverse kinematics; inverse projection; robotic computer; spatial augmented reality;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145895