Markerless Augmented Reality for Robotic Helicoptor Applications
Identifieur interne : 001237 ( Istex/Corpus ); précédent : 001236; suivant : 001238Markerless Augmented Reality for Robotic Helicoptor Applications
Auteurs : Ian Yen-Hung Chen ; Bruce Macdonald ; Burkhard WünscheSource :
- Lecture Notes in Computer Science [ 0302-9743 ] ; 2008.
Abstract
Abstract: The objective of this research is to apply markerless Augmented Reality (AR) techniques to aid in the visualisation of robotic helicopter related tasks. Conventional robotic AR applications work well with markers in prepared environments but are infeasible in outdoor settings. In this paper, we present preliminary results from a real time markerless AR system for tracking natural features in an agricultural scene. By constructing a virtual marker under a known initial configuration of the robotic helicopter, camera and the ground plane, the camera pose can be continuously tracked using the natural features from the image sequence to perform augmentation of virtual objects. The experiments are simulated on a mock-up model of an agricultural farm and the results show that the current AR system is capable of tracking the camera pose accurately for translational motions and roll rotations. Future work includes reducing jitter in the virtual marker vertices to improve camera pose estimation accuracy for pitch and yaw rotations, and implementing feature recovery algorithms.
Url:
DOI: 10.1007/978-3-540-78157-8_10
Links to Exploration step
ISTEX:B0BF6304AABF0D24DB80AA8CA5DAC135511BE6C6Le document en format XML
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Conventional robotic AR applications work well with markers in prepared environments but are infeasible in outdoor settings. In this paper, we present preliminary results from a real time markerless AR system for tracking natural features in an agricultural scene. By constructing a virtual marker under a known initial configuration of the robotic helicopter, camera and the ground plane, the camera pose can be continuously tracked using the natural features from the image sequence to perform augmentation of virtual objects. The experiments are simulated on a mock-up model of an agricultural farm and the results show that the current AR system is capable of tracking the camera pose accurately for translational motions and roll rotations. Future work includes reducing jitter in the virtual marker vertices to improve camera pose estimation accuracy for pitch and yaw rotations, and implementing feature recovery algorithms.</div></front></TEI><istex><corpusName>springer</corpusName><author><json:item><name>Ian Yen-Hung Chen</name><affiliations><json:string>Dept. of Electrical and Computer Engineering, University of Auckland, New Zealand</json:string><json:string>E-mail: i.chen@auckland.ac.nz</json:string></affiliations></json:item><json:item><name>Bruce MacDonald</name><affiliations><json:string>Dept. of Electrical and Computer Engineering, University of Auckland, New Zealand</json:string><json:string>E-mail: b.macdonald@auckland.ac.nz</json:string></affiliations></json:item><json:item><name>Burkhard Wünsche</name><affiliations><json:string>Dept. of Computer Science, University of Auckland, New Zealand</json:string><json:string>E-mail: burkhard@cs.auckland.ac.nz</json:string></affiliations></json:item></author><language><json:string>eng</json:string></language><originalGenre><json:string>OriginalPaper</json:string></originalGenre><abstract>Abstract: The objective of this research is to apply markerless Augmented Reality (AR) techniques to aid in the visualisation of robotic helicopter related tasks. 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Conventional robotic AR applications work well with markers in prepared environments but are infeasible in outdoor settings. In this paper, we present preliminary results from a real time markerless AR system for tracking natural features in an agricultural scene. By constructing a virtual marker under a known initial configuration of the robotic helicopter, camera and the ground plane, the camera pose can be continuously tracked using the natural features from the image sequence to perform augmentation of virtual objects. The experiments are simulated on a mock-up model of an agricultural farm and the results show that the current AR system is capable of tracking the camera pose accurately for translational motions and roll rotations. 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Robotics)</BookSubject><BookSubject Code="I22013" Priority="4" Type="Secondary">Computer Graphics</BookSubject><BookSubject Code="I17028" Priority="5" Type="Secondary">Discrete Mathematics in Computer Science</BookSubject><SubjectCollection Code="SUCO11645">Computer Science</SubjectCollection></BookSubjectGroup></BookInfo><BookHeader><EditorGroup><Editor><EditorName DisplayOrder="Western"><GivenName>Gerald</GivenName><FamilyName>Sommer</FamilyName></EditorName><Contact><Email>gs@ks.informatik.uni-kiel.de</Email></Contact></Editor><Editor><EditorName DisplayOrder="Western"><GivenName>Reinhard</GivenName><FamilyName>Klette</FamilyName></EditorName><Contact><Email>r.klette@auckland.ac.nz</Email></Contact></Editor></EditorGroup></BookHeader><Part ID="Part3"><PartInfo TocLevels="0"><PartID>3</PartID><PartSequenceNumber>3</PartSequenceNumber><PartTitle>Robot Vision</PartTitle><PartChapterCount>5</PartChapterCount><PartContext><SeriesID>558</SeriesID><BookTitle>Robot Vision</BookTitle></PartContext></PartInfo><Chapter ID="Chap10" Language="En"><ChapterInfo ChapterType="OriginalPaper" ContainsESM="No" NumberingStyle="Unnumbered" TocLevels="0"><ChapterID>10</ChapterID><ChapterDOI>10.1007/978-3-540-78157-8_10</ChapterDOI><ChapterSequenceNumber>10</ChapterSequenceNumber><ChapterTitle Language="En">Markerless Augmented Reality for Robotic Helicoptor Applications</ChapterTitle><ChapterFirstPage>125</ChapterFirstPage><ChapterLastPage>138</ChapterLastPage><ChapterCopyright><CopyrightHolderName>Springer-Verlag Berlin Heidelberg</CopyrightHolderName><CopyrightYear>2008</CopyrightYear></ChapterCopyright><ChapterGrants Type="Regular"><MetadataGrant Grant="OpenAccess"></MetadataGrant><AbstractGrant Grant="OpenAccess"></AbstractGrant><BodyPDFGrant Grant="Restricted"></BodyPDFGrant><BodyHTMLGrant Grant="Restricted"></BodyHTMLGrant><BibliographyGrant Grant="Restricted"></BibliographyGrant><ESMGrant Grant="Restricted"></ESMGrant></ChapterGrants><ChapterContext><SeriesID>558</SeriesID><PartID>3</PartID><BookID>978-3-540-78157-8</BookID><BookTitle>Robot Vision</BookTitle></ChapterContext></ChapterInfo><ChapterHeader><AuthorGroup><Author AffiliationIDS="Aff1"><AuthorName DisplayOrder="Western"><GivenName>Ian</GivenName><GivenName>Yen-Hung</GivenName><FamilyName>Chen</FamilyName></AuthorName><Contact><Email>i.chen@auckland.ac.nz</Email></Contact></Author><Author AffiliationIDS="Aff1"><AuthorName DisplayOrder="Western"><GivenName>Bruce</GivenName><FamilyName>MacDonald</FamilyName></AuthorName><Contact><Email>b.macdonald@auckland.ac.nz</Email></Contact></Author><Author AffiliationIDS="Aff2"><AuthorName DisplayOrder="Western"><GivenName>Burkhard</GivenName><FamilyName>Wünsche</FamilyName></AuthorName><Contact><Email>burkhard@cs.auckland.ac.nz</Email></Contact></Author><Affiliation ID="Aff1"><OrgDivision>Dept. of Electrical and Computer Engineering</OrgDivision><OrgName>University of Auckland</OrgName><OrgAddress><Country>New Zealand</Country></OrgAddress></Affiliation><Affiliation ID="Aff2"><OrgDivision>Dept. of Computer Science</OrgDivision><OrgName>University of Auckland</OrgName><OrgAddress><Country>New Zealand</Country></OrgAddress></Affiliation></AuthorGroup><Abstract ID="Abs1" Language="En"><Heading>Abstract</Heading><Para>The objective of this research is to apply markerless Augmented Reality (AR) techniques to aid in the visualisation of robotic helicopter related tasks. Conventional robotic AR applications work well with markers in prepared environments but are infeasible in outdoor settings. In this paper, we present preliminary results from a real time markerless AR system for tracking natural features in an agricultural scene. By constructing a virtual marker under a known initial configuration of the robotic helicopter, camera and the ground plane, the camera pose can be continuously tracked using the natural features from the image sequence to perform augmentation of virtual objects. The experiments are simulated on a mock-up model of an agricultural farm and the results show that the current AR system is capable of tracking the camera pose accurately for translational motions and roll rotations. Future work includes reducing jitter in the virtual marker vertices to improve camera pose estimation accuracy for pitch and yaw rotations, and implementing feature recovery algorithms.</Para></Abstract></ChapterHeader><NoBody></NoBody></Chapter></Part></Book></Series></Publisher></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Markerless Augmented Reality for Robotic Helicoptor Applications</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>Markerless Augmented Reality for Robotic Helicoptor Applications</title></titleInfo><name type="personal"><namePart type="given">Ian</namePart><namePart type="given">Yen-Hung</namePart><namePart type="family">Chen</namePart><affiliation>Dept. of Electrical and Computer Engineering, University of Auckland, New Zealand</affiliation><affiliation>E-mail: i.chen@auckland.ac.nz</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Bruce</namePart><namePart type="family">MacDonald</namePart><affiliation>Dept. of Electrical and Computer Engineering, University of Auckland, New Zealand</affiliation><affiliation>E-mail: b.macdonald@auckland.ac.nz</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Burkhard</namePart><namePart type="family">Wünsche</namePart><affiliation>Dept. of Computer Science, University of Auckland, New Zealand</affiliation><affiliation>E-mail: burkhard@cs.auckland.ac.nz</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="conference" displayLabel="OriginalPaper"></genre><originInfo><publisher>Springer Berlin Heidelberg</publisher><place><placeTerm type="text">Berlin, Heidelberg</placeTerm></place><dateIssued encoding="w3cdtf">2008</dateIssued><copyrightDate encoding="w3cdtf">2008</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType></physicalDescription><abstract lang="en">Abstract: The objective of this research is to apply markerless Augmented Reality (AR) techniques to aid in the visualisation of robotic helicopter related tasks. Conventional robotic AR applications work well with markers in prepared environments but are infeasible in outdoor settings. In this paper, we present preliminary results from a real time markerless AR system for tracking natural features in an agricultural scene. By constructing a virtual marker under a known initial configuration of the robotic helicopter, camera and the ground plane, the camera pose can be continuously tracked using the natural features from the image sequence to perform augmentation of virtual objects. The experiments are simulated on a mock-up model of an agricultural farm and the results show that the current AR system is capable of tracking the camera pose accurately for translational motions and roll rotations. Future work includes reducing jitter in the virtual marker vertices to improve camera pose estimation accuracy for pitch and yaw rotations, and implementing feature recovery algorithms.</abstract><relatedItem type="host"><titleInfo><title>Robot Vision</title><subTitle>Second International Workshop, RobVis 2008, Auckland, New Zealand, February 18-20, 2008. Proceedings</subTitle></titleInfo><name type="personal"><namePart type="given">Gerald</namePart><namePart type="family">Sommer</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Reinhard</namePart><namePart type="family">Klette</namePart><role><roleTerm type="text">editor</roleTerm></role></name><genre type="book-series" displayLabel="Proceedings"></genre><originInfo><copyrightDate encoding="w3cdtf">2008</copyrightDate><issuance>monographic</issuance></originInfo><subject><genre>Book-Subject-Collection</genre><topic authority="SpringerSubjectCodes" authorityURI="SUCO11645">Computer Science</topic></subject><subject><genre>Book-Subject-Group</genre><topic authority="SpringerSubjectCodes" authorityURI="I">Computer Science</topic><topic authority="SpringerSubjectCodes" authorityURI="I22021">Image Processing and Computer Vision</topic><topic authority="SpringerSubjectCodes" authorityURI="I2203X">Pattern Recognition</topic><topic authority="SpringerSubjectCodes" authorityURI="I21017">Artificial Intelligence (incl. Robotics)</topic><topic authority="SpringerSubjectCodes" authorityURI="I22013">Computer Graphics</topic><topic authority="SpringerSubjectCodes" authorityURI="I17028">Discrete Mathematics in Computer Science</topic></subject><identifier type="DOI">10.1007/978-3-540-78157-8</identifier><identifier type="ISBN">978-3-540-78156-1</identifier><identifier type="eISBN">978-3-540-78157-8</identifier><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="BookTitleID">159842</identifier><identifier type="BookID">978-3-540-78157-8</identifier><identifier type="BookChapterCount">35</identifier><identifier type="BookVolumeNumber">4931</identifier><identifier type="BookSequenceNumber">4931</identifier><identifier type="PartChapterCount">5</identifier><part><date>2008</date><detail type="part"><title>Robot Vision</title></detail><detail type="volume"><number>4931</number><caption>vol.</caption></detail><extent unit="pages"><start>125</start><end>138</end></extent></part><recordInfo><recordOrigin>Springer-Verlag Berlin Heidelberg, 2008</recordOrigin></recordInfo></relatedItem><relatedItem type="series"><titleInfo><title>Lecture Notes in Computer Science</title></titleInfo><name type="personal"><namePart type="given">David</namePart><namePart type="family">Hutchison</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Takeo</namePart><namePart type="family">Kanade</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Josef</namePart><namePart type="family">Kittler</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Jon</namePart><namePart type="given">M.</namePart><namePart type="family">Kleinberg</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Friedemann</namePart><namePart type="family">Mattern</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">John</namePart><namePart type="given">C.</namePart><namePart type="family">Mitchell</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Moni</namePart><namePart type="family">Naor</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Oscar</namePart><namePart type="family">Nierstrasz</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">C.</namePart><namePart type="family">Pandu Rangan</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Bernhard</namePart><namePart type="family">Steffen</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Madhu</namePart><namePart type="family">Sudan</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Demetri</namePart><namePart type="family">Terzopoulos</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Doug</namePart><namePart type="family">Tygar</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Moshe</namePart><namePart type="given">Y.</namePart><namePart type="family">Vardi</namePart><role><roleTerm type="text">editor</roleTerm></role></name><name type="personal"><namePart type="given">Gerhard</namePart><namePart type="family">Weikum</namePart><role><roleTerm type="text">editor</roleTerm></role></name><originInfo><copyrightDate encoding="w3cdtf">2008</copyrightDate><issuance>serial</issuance></originInfo><identifier type="ISSN">0302-9743</identifier><identifier type="eISSN">1611-3349</identifier><identifier type="SeriesID">558</identifier><recordInfo><recordOrigin>Springer-Verlag Berlin Heidelberg, 2008</recordOrigin></recordInfo></relatedItem><identifier type="istex">B0BF6304AABF0D24DB80AA8CA5DAC135511BE6C6</identifier><identifier type="DOI">10.1007/978-3-540-78157-8_10</identifier><identifier type="ChapterID">10</identifier><identifier type="ChapterID">Chap10</identifier><accessCondition type="use and reproduction" contentType="copyright">Springer-Verlag Berlin Heidelberg, 2008</accessCondition><recordInfo><recordContentSource>SPRINGER</recordContentSource><recordOrigin>Springer-Verlag Berlin Heidelberg, 2008</recordOrigin></recordInfo></mods></metadata></istex></record>Pour manipuler ce document sous Unix (Dilib)
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