Post on 12-Apr-2017
[Slide 2]
□ Introduction□ Objectives□ Related Works□ Distributed Architecture
□ Multimodal Positioning System□ Vision Based Methods
□ Results□ Open Challenges
Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Contents26/10/2012 Intro Objectives Related Architecture Results Future
[Slide 3]
□ Introduction□ Objectives□ Related Works□ Distributed Architecture
□ Multimodal Positioning System□ Vision Based Methods
□ Results□ Open Challenges
Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Contents26/10/2012 Intro Objectives Related Architecture Results Future
[Slide 4]
□ Introduction□ Objectives□ Related Works□ Distributed Architecture
□ Multimodal Positioning System□ Vision Based Methods
□ Results□ Open Challenges
Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Contents26/10/2012 Intro Objectives Related Architecture Results Future
[Slide 5]
□ Introduction□ Objectives□ Related Works□ Distributed Architecture
□ Multimodal Positioning System□ Vision Based Methods
□ Results□ Open Challenges
Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Contents26/10/2012 Intro Objectives Related Architecture Results Future
[Slide 6]
□ Introduction□ Objectives□ Related Works□ Distributed Architecture
□ Multimodal Positioning System□ Vision-Based Methods
□ Results□ Open Challenges
Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Contents26/10/2012 Intro Objectives Related Architecture Results Future
[Slide 7]
□ Introduction□ Objectives□ Related Works□ Distributed Architecture
□ Multimodal Positioning System□ Vision-Based Methods
□ Results□ Open Challenges
Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Contents26/10/2012 Intro Objectives Related Architecture Results Future
[Slide 8]
□ Introduction□ Objectives□ Related Works□ Distributed Architecture
□ Multimodal Positioning System□ Vision-Based Methods
□ Results□ Open Challenges
Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Contents26/10/2012 Intro Objectives Related Architecture Results Future
Intr o
duct
i on
Intro Objectives Related Architecture Results Future 26/10/2012
[Slide 9]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Input Bin
Introduction26/10/2012
[Slide 10]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Introduction26/10/2012
[Slide 11]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Introduction26/10/2012
[Slide 12]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Input Bin
26/10/2012
[Slide 13]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
Input Bin
26/10/2012
[Slide 14]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
Input Bin
26/10/2012
[Slide 15]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
Input Bin
26/10/2012
[Slide 16]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
Input Bin
26/10/2012
[Slide 17]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
Input Bin
26/10/2012
[Slide 18]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
Input Bin
26/10/2012
[Slide 19]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
Input Bin
26/10/2012
[Slide 20]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
What is Augmented Reality? Variation of Virtual Environments where virtual objects are superimposed over the real world.
Characteristics [Azuma97]: Real + Virtual Interactive Registered in 3D
26/10/2012
[Slide 21]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
More than just «Location»...
26/10/2012
[Slide 22]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
More than just «Location»...
How to measure Camera Pose (6DOF): Tracking
26/10/2012
[Slide 23]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
More than just «Location»...
How to measure Camera Pose (6DOF): Tracking
Identify well-known points
26/10/2012
[Slide 24]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
More than just «Location»...
How to measure Camera Pose (6DOF): Tracking
Table Surface
Identify well-known points
26/10/2012
[Slide 25]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
More than just «Location»...
How to measure Camera Pose (6DOF): Tracking
Table Surface
Table Surface
Identify well-known points
26/10/2012
[Slide 26]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
AR Market (Juniper Research)
Total Mobile AR Revenues on Mobile Devices Split by Category
Mill
ions
of D
olla
rs
26/10/2012
[Slide 27]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
More than a «Trending Topic»
Augmented Reality Virtual Reality
Google Trends
26/10/2012
[Slide 28]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
More than a «Trending Topic»
Augmented Reality Virtual Reality
Google Trends
Search Volume Index (by Country)
Spain: 18
Portugal: 31
France: 12
UK: 61
Germany: 54
Netherlands: 80
USA: 46India: 63
Contact Lenses,Contact Lenses,The Future?The Future?
AR Contact Lenses Prototype
26/10/2012
[Slide 29]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
B. Parviz et al. (2009) University of Washington
26/10/2012
[Slide 30]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Goo g
le «P
roje c
t Glas
s»
Google+: g.co/projectglass
4th April 2012
26/10/2012
[Slide 31]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
A world of Location-Based Services
[Video]
Obj ec
ti ves
Intro Objectives Related Architecture Results Future 26/10/2012
[Slide 32]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Input Bin
Objectives26/10/2012
[Slide 33]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Not use AR«wish list»
Large Databases
SoftcomputingTechniques
ScalableApproach
Input Bin
Objectives26/10/2012
[Slide 34]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
To not use AR«wish list»
Large Databases
SoftcomputingTechniques
ScalableApproach
Input Bin
Objectives26/10/2012
[Slide 35]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Large Databases
SoftcomputingTechniques
ScalableApproach
To not use AR«wish list»
Input Bin
Objectives26/10/2012
[Slide 36]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Large Databases
SoftcomputingTechniques
ScalableApproach
To not use AR«wish list»
Input Bin
Objectives26/10/2012
[Slide 37]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Large Databases
SoftcomputingTechniques
ScalableApproach
To not use AR«wish list»
Input Bin
Sub-Objectives26/10/2012
[Slide 38]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Multi-Layer Architecture Task Delegation for Multiple Services Efficient Platform Transparent Location Based on Intelligent Agents (Wooldridge):
Autonomy Social ability Reactivity Proactivity
Input Bin
Sub-Objectives26/10/2012
[Slide 39]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Multi-Layer Architecture Task Delegation for Multiple Services Efficient Platform Transparent Location Based on Intelligent Agents (Wooldridge):
Autonomy Social ability Reactivity Proactivity
Input Bin
Sub-Objectives26/10/2012
[Slide 40]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Multi-Layer Architecture Task Delegation for Multiple Services Efficient Platform Transparent Location Based on Intelligent Agents (Wooldridge):
Autonomy Social ability Reactivity Proactivity
Input Bin
Sub-Objectives26/10/2012
[Slide 41]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Multi-Layer Architecture Task Delegation for Multiple Services Efficient Platform Transparent Location Based on Intelligent Agents (Wooldridge):
Autonomy Social ability Reactivity Proactivity
Input Bin
Sub-Objectives26/10/2012
[Slide 42]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Multi-Layer Architecture Task Delegation for Multiple Services Efficient Platform Transparent Location Based on Intelligent Agents (Wooldridge):
Autonomy Social ability Reactivity Proactivity
Input Bin
Sub-Objectives26/10/2012
[Slide 43]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Multi-Layer Architecture Task Delegation for Multiple Services Efficient Platform Transparent Location Based on Intelligent Agents (Wooldridge):
Autonomy Social ability Reactivity Proactivity
Rela t
ed W
ork s
Intro Objectives Related Architecture Results Future 26/10/2012
[Slide 44]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Visual Tracking26/10/2012
[Slide 45]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Compute camera pose using local frame of reference.
Compute Relative Pose
Not only «Visual»... 6DOF26/10/2012
[Slide 46]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
[Poner Vídeo de I. Shutterland]
Tracking or Localization26/10/2012
[Slide 47]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Relative or Absolute...
+ Known Points+ Precision
«Easy» definition of relations
26/10/2012
[Slide 48]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Relative or Absolute...
+ Known Points+ Precision
«Easy» definition of relations
Tracking or Localization
26/10/2012
[Slide 49]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Global PositionComposite Matrix
Relative or Absolute...
+ Known Points+ Precision
«Simple» definition of relations
Tracking or Localization
26/10/2012
[Slide 50]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
External CamerasObtain camera pose with respect to fixed video sources.
26/10/2012
[Slide 51]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Visual Tracking Methods
Fiducial MarkersMarkerless Based Methods
Natural Feature Tracking (KeyPoint) Model Based (IPB, PS, ...) On-the-fly reconstruction (SLAM) Hybrid Methods (+IMU...)
26/10/2012
[Slide 52]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Fiducial Markers
Binarization Components Extraction
Vertexes and Edge Detection
Mar
kers
Sea
rch
2D P
osit i
on
Per
spec
tive
Pat
tern
I D
Get
Tra
n sM
at
3D R
end e
ring
Input Bin
Fiducial Markers: Example of Use26/10/2012
[Slide 53]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Virtual Museum of Computing
2007 (ESI/UCLM)
http://www.esi.uclm.es/museo/
Fiducial MarkersLimitations
26/10/2012
[Slide 54]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Marker Size (cm)
Det
ectio
n (D
ist)
(cm
)
Error / Marker Size (cm)
Rot
ati o
n
Fiducial MarkersLimitations
26/10/2012
[Slide 55]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Origin of GRS placed at the center of the Marker.
Result of propagating the same error
Be careful when using them as a localization method... Propagation error!
Fiducial MarkersLimitations
26/10/2012
[Slide 56]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Origin of GRS placed at the center of the Marker.
Result of propagating the same error
Be careful when using them as localization method... Propagate error!
26/10/2012
[Slide 57]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Visual Tracking Methods
Fiducial MarkersMarkerless-Based Methods
Natural Feature Tracking (KeyPoint) Model Based (IPB, PS, ...) On-the-fly reconstruction (SLAM) Hybrid Methods (+IMU...)
26/10/2012
[Slide 58]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Visual Tracking Methods
Fiducial MarkersMarkerless-Based Methods
Natural Feature Tracking (KeyPoint) Model Based (IPB, PS, ...) On-the-fly reconstruction (SLAM) Hybrid Methods (+IMU...)
Natural Feature Tracking26/10/2012
[Slide 59]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Keypoint Extraction (Offline) Keypoint Matching Pose Calculation
26/10/2012
[Slide 60]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Visual Tracking Methods
Fiducial MarkersMarkerless-Based Methods
Natural Feature Tracking (KeyPoint) Model Based (IPB, PS, ...) On-the-fly reconstruction (SLAM) Hybrid Methods (+IMU...)
Model Based Tracking26/10/2012
[Slide 61]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Control Points Sampling Visible Edges Detection Control Points Matching Pose Calculation
26/10/2012
[Slide 62]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Visual Tracking Methods
Fiducial MarkersMarkerless-Based Methods
Natural Feature Tracking (KeyPoint) Model Based (IPB, PS, ...) On-the-fly reconstruction (SLAM) Hybrid Methods (+IMU...)
On-the-fly calculation Tracking26/10/2012
[Slide 63]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
PTAMM[Castle 2010]
26/10/2012
[Slide 64]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Visual Tracking Methods
Fiducial MarkersMarkerless-Based Methods
Natural Feature Tracking (KeyPoint) Model Based (IPB, PS, ...) On-the-fly reconstruction (SLAM) Hybrid Methods (+IMU...)
26/10/2012
[Slide 65]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Previous Work: Hesperia Project
Our P
ropo
s al
Intro Objectives Related Architecture Results Future 26/10/2012
[Slide 66]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Input Bin
26/10/2012
[Slide 67]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
GlobalLocation
Architecture Distributed Middleware: ZeroC Ice
Location Providers
Our A
g ent
Pla t
form
26/10/2012
[Slide 68]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
VideoStream
LightweightAgent
LightweightAgent
RFIDAgent
AudioStream
SensorLayer
StaticAgents
MobileAgents
Input Bin
AR Location & Rendering Service26/10/2012
[Slide 69]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
TrackingLayer
Inertial System
EstimatorAgent
Compass
Acelerom.
Gyros.
GPSAgent
Absolute Methods Relative Methods
FiducialAgent
LedsAgent
Point T.Agent
Op. FlowAgent
VideoStream
LightweightAgent
LightweightAgent
RFIDAgent
AudioStream
SensorLayer
StaticAgents
MobileAgents
AR Location & Rendering Service26/10/2012
[Slide 70]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
TrackingLayer
Inertial System
EstimatorAgent
Compass
Acelerom.
Gyros.
GPSAgent
Absolute Methods Relative Methods
FiducialAgent
LedsAgent
Point T.Agent
Op. FlowAgent
VideoStream
LightweightAgent
LightweightAgent
RFIDAgent
AudioStream
SensorLayer
FusionLayer Historical
PerceptionAgent
Perception FusionAgent
StaticAgents
MobileAgents
AR Location & Rendering Service26/10/2012
[Slide 71]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
TrackingLayer
Inertial System
EstimatorAgent
Compass
Acelerom.
Gyros.
GPSAgent
Absolute Methods Relative Methods
FiducialAgent
LedsAgent
Point T.Agent
Op. FlowAgent
VideoStream
LightweightAgent
LightweightAgent
RFIDAgent
AudioStream
SensorLayer
FusionLayer Historical
PerceptionAgent
Perception FusionAgent
3D Repr.ManagerAgent
PhoneAgent
HMDAgent
TabletPCAgent
RepresentationLayer
MultiAgentRender Grid
StaticAgents
MobileAgents
AR Location & Rendering Service26/10/2012
[Slide 72]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
TrackingLayer
Inertial System
EstimatorAgent
Compass
Acelerom.
Gyros.
GPSAgent
Absolute Methods Relative Methods
FiducialAgent
LedsAgent
Point T.Agent
Op. FlowAgent
VideoStream
LightweightAgent
LightweightAgent
RFIDAgent
AudioStream
SensorLayer
FusionLayer Historical
PerceptionAgent
Perception FusionAgent
3D Repr.ManagerAgent
PhoneAgent
HMDAgent
TabletPCAgent
RepresentationLayer
ServiceLayer
MultiAgentRender Grid
3D Model RepositoryAgentFace
IdentificationAgent
InteractionAgent
Authentication Agent
StaticAgents
MobileAgents
AR Location & Rendering Service26/10/2012
[Slide 73]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Tracking Layer26/10/2012
[Slide 74]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Fiducial Markers (ARToolKit).
Tool for tuning marker position.
Tracking Layer26/10/2012
[Slide 75]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Fiducial Markers (ARToolKit).
On-the-fly Recons-truction (PTAMM).
Tool to obtain pose and scale of PTAM Maps.
Fiducial Markers (ARToolKit). On-the-fly Reconstruction (PTAMM). Visual Descriptors. QBIC.
Lucene Indexes: ColourLayout and Edge Histogram.
Query: Voronoi Tree.
Tracking Layer26/10/2012
[Slide 76]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Tracking Layer: Visual Descriptors26/10/2012
[Slide 77]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Position: 2.5, 5.5Rotation: 135º
Tracking Layer26/10/2012
[Slide 78]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Fiducial Markers (ARToolKit). On-the-fly Reconstruction (PTAMM). Visual Descriptors. Stereo Location.
1. Features to track: Shi-Tomasi. 2. Optical-Flow: Lucas-Kanade. 3. Fundamental Matrix: LmedS. 4. Fundamental + Intrinsic = Essential Rotation Estimation (Rodrígues).
TrackingLayer
Inertial System
EstimatorAgent
Compass
Acelerom.
Gyros.
GPSAgent
Absolute Methods Relative Methods
FiducialAgent
LedsAgent
Point T.Agent
Op. FlowAgent
VideoStream
LightweightAgent
LightweightAgent
RFIDAgent
AudioStream
SensorLayer
FusionLayer Historical
PerceptionAgent
Perception FusionAgent
3D Repr.ManagerAgent
PhoneAgent
HMDAgent
TabletPCAgent
RepresentationLayer
ServiceLayer
MultiAgentRender Grid
3D Model RepositoryAgentFace
IdentificationAgent
InteractionAgent
Authentication Agent
StaticAgents
MobileAgents
AR Location & Rendering Service26/10/2012
[Slide 79]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Fusion Layer26/10/2012
[Slide 80]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
With HistoricalWithout Hist.
Objective: Tracking Stabilization. Solution: Use of a historical vector. Issues: Precision loss.
Fuzzy Controller26/10/2012
[Slide 81]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
OpticalFlow PTAM Weight
NG NP Z PP PG NG NP Z PP PG LOW MED HIGH
Weight
26/10/2012
[Slide 82]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
R1/ if(OF == NG & PT == NG) -> P = HIGH;R2/ if(OF == NP & PT == NP) -> P = HIGH;R3/ if(OF == Z & PT == Z) -> P = HIGH;R4/ if(OF == PP & PT == PP) -> P = HIGH;R5/ if(OF == PG & PT == PG) -> P = HIGH;R6/ if((OF == PP | OF == PG) & (PT == NP | PT == NG)) -> P = LOW;R7/ if((OF == NP | OF == NG) & (PT == PP | PT == PG)) -> P = LOW;R8/ if((OF == NP | OF == Z) & PT == NG) -> P = MED;R9/ if((OF == PP | OF == Z) & PT == PG) -> P = MED;R10/ if(OF == NG & (PT == NP | PT == Z)) -> P = MED;R11/ if(OF == PG & (PT == PP | PT == Z)) -> P = MED;
Fuzzy Controller (11 Rules):
Fuzzy Controller
26/10/2012
[Slide 83]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Fuzzy Controller
Res u
lts
Intro Objectives Related Architecture Results Future 26/10/2012
[Slide 84]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Input Bin
Results26/10/2012
[Slide 85]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Futu
re W
o rks
Intro Objectives Related Architecture Results Future 26/10/2012
[Slide 86]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
26/10/2012
[Slide 87]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Open Challenges
26/10/2012
[Slide 88]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Open Challenges
26/10/2012
[Slide 89]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Open Challenges
26/10/2012
[Slide 90]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Open Challenges
26/10/2012
[Slide 91]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objectives Related Architecture Results Future
Open Challenges