로보틱 공간증강현실 시스템의 제어의 문제

다국어 초록 (Multilingual Abstract)

A robotic spatial augmented reality (RSAR) system combines a robotics technology with a spatial augmented reality system (SAR) where cameras are used to recognize real objects and projectors augment information and user interface directly on the surface of the recognized objects, rather than relying on handheld display devices. Moreover, a robotic module is actively used to discover and utilize the context of users and environments. The control of a RSAR system involves several issues from different technical fields such as classical inverse kinematics of motors where projector-camera pairs are mounted, inverse projection problems to find appropriate internal/external parameters of projectors and cameras, and image warping in graphics pipeline to compensate the kinematic constraints. In this paper, we investigate various control issues related to a RSAR system and propose basic approaches to handle them, specially focused on the prototype RSAR system developed in ETRI.

목차 (Table of Contents)

• ABSTRACT
• 1. 서론
• 2. 관련 연구
• 3. 로봇 공간증강현실과 제어 문제들
• 4. 결론
• 참고문헌

참고문헌 (Reference)

1 Raskar, R, "iLamps: Geometrically Aware and Self-Configuring Projectors" 2003

2 Hainich, R, "The End of Hardware: Augmented Reality and Beyond" BookSurge 2009

3 Gruber, L., "The City of Sights: Design, Construction and Measurement of an Augmented Reality Stage Set" 13-16, 2010

4 Nakamura, Y., "Taskpriority Based Redundancy Control of Robot Manipulators" 6 (6): 3-15, 1987

5 Raskar, R, "Table-Top Spatially-Augmented Reality: Bringing Physical Models to Life with Projected Imagery" 64-, 1999

6 Bimber, O, "Spatial Augmented Reality: Merging Real and Virtual Worlds" AK Peters 2004

7 Holman, D., "SketchSpace: Designing Interactive behaviors with Passive Materials" 2011

8 Mistry, P, "SixthSense: A Wearable Gestural Interface" 2009

9 Azuma, R, "Recent Advance in Augmented Reality" 21 (21): 34-47, 2001

10 Erison, C., "Real-Time Collision Detection" Morgan Kaufmann 2005

11 Raskar, R, "RFIG Lamps: Interacting with a Self-describing World via Photosensing Wireless Tags and Projectors" 2004

12 Raskar, R, "Projectors for Graphics" 2008

13 Yang, R., "PixelFlex: A Reconfigurable Multiprojector Display System" 167-, 2001

14 Ziola, R., "OASIS: Examining a Framework for Interacting with General-Purpose Object Recognition" Intel Labs Seattle Technical Report 2010

15 Linder, N, "LuminAR: Portable Robotic Augmented Reality Interface Design and Prototype" 2010

16 Lee, J.-H., "Inverse Perspective Projection of Convex Quadrilaterals" 2011

17 Lee, J.-H., "Inverse Perspective Projection of Convex Quadrilaterals" ETRI Technical Report 2011

18 Suh Y. -H., "Future Robotic Computer: A New Type of Computing Device with Robotic Functions" 261-262, 2011

19 Hisada, M., "Free-form Shape Design System Using Stereoscopic Projector: HyperReal 2.0" 4832-4835, 2006

20 "FRC Demo Movie"

21 Andrew D. Wilson, "Combining Multiple Depth Cameras and Projectors for Interactions on, Above and between Surfaces" 03-06, 2010

22 Jones, B. R., "Build Your World and Play In It: Interacting with Surface Particles on Complex Objects" 165-174, 2010

23 Mark Fiala, "Automatic Projector Calibration Using Self-Identifying Patterns" 113-, 2005

24 Lee, J. -E., "Anamorphosis Projection by Ubiquitous Display in Intelligent Space" 209-217, 2009

25 Park, S.-Y, "Active Calibration of Camera-Projector Systems based on Planar Homography" 320-323, 2010

26 Lai, K., "A Large- Scale Hierarchical Multi-View RGB-D Object Dataset" 2011