TouchMe: An Augmented Reality Interface for Remote Robot Control

Hashimoto, Sunao; Ishida, Akihiko; İnami, Masahiko; Igarashi, Takeo

doi:10.20965/jrm.2013.p0529

Cited by 52 publications

(59 citation statements)

References 15 publications

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“…CRISTAL [4] is a system for manipulating home electronics in the room via tabletop multi-touch interface that uses perspective image of the room. For physical motion control, TouchMe [3] is a system for tele-operating a mobile robot through a touch panel. These approaches provide real-time visual feedback and intuitive touch interaction.…”

Section: Related Workmentioning

confidence: 99%

exTouch

Kasahara

Niiyama

Heun

et al. 2013

Proceedings of the 7th International Conference on Tangible, Embedded and Embodied Interaction

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As domestic robots and smart appliances become increasingly common, they require a simple, universal interface to control their motion. Such an interface must support a simple selection of a connected device, highlight its capabilities and allow for an intuitive manipulation. We propose "exTouch", an embodied spatially-aware approach to touch and control devices through an augmented reality mediated mobile interface. The "exTouch" system extends the users touchscreen interactions into the real world by enabling spatial control over the actuated object. When users touch a device shown in live video on the screen, they can change its position and orientation through multi-touch gestures or by physically moving the screen in relation to the controlled object. We demonstrate that the system can be used for applications such as an omnidirectional vehicle, a drone, and moving furniture for reconfigurable room.

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Section: Related Workmentioning

confidence: 99%

exTouch

Kasahara

Niiyama

Heun

et al. 2013

Proceedings of the 7th International Conference on Tangible, Embedded and Embodied Interaction

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“…Tracking of pose is also useful for interacting with computer programs, machines and other tools [36,55,89,91]. Kinnect and the Wii controller are well known examples of commercial products used as input devices for game consols.…”

Section: Pose Estimation In Room-scaled Environmentsmentioning

confidence: 99%

On Pose Estimation in Room-Scaled Environments

Nyqvist¹

2016

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Systra mi, du är bäst! Ikväll ska vi tokdansa med Ronny och Ragge på bordet tills byxorna spricker så att mamma får dåndimpen och pappa ramlar ur soffan. AbstractPose (position and orientation) tracking in room-scaled environments is an enabling technique for many applications. Today, virtual reality (vr) and augmented reality (ar) are two examples of such applications, receiving high interest both from the public and the research community. Accurate pose tracking of the vr or ar equipment, often a camera or a headset, or of different body parts is crucial to trick the human brain and make the virtual experience realistic. Pose tracking in room-scaled environments is also needed for reference tracking and metrology. This thesis focuses on an application to metrology. In this application, photometric models of a photo studio are needed to perform realistic scene reconstruction and image synthesis. Pose tracking of a dedicated sensor enables creation of these photometric models. The demands on the tracking system used in this application is high. It must be able to provide sub-centimeter and sub-degree accuracy and at same time be easy to move and install in new photo studios.The focus of this thesis is to investigate and develop methods for a pose tracking system that satisfies the requirements of the intended metrology application. The Bayesian filtering framework is suggested because of its firm theoretical foundation in informatics and because it enables straightforward fusion of measurements from several sensors. Sensor fusion is in this thesis seen as a way to exploit complementary characteristics of different sensors to increase tracking accuracy and robustness. Four different types of measurements are considered; inertialmeasurements, images from a camera, range (time-of-flight) measurements from ultra wide band (uwb) radio signals, and range and velocity measurements from echoes of transmitted acoustic signals.A simulation study and a study of the Cramér-Rao lower filtering bound (crlb) show that an inertial-camera system has the potential to reach the required tracking accuracy. It is however assumed that known fiducial markers, that can be detected and recognized in images, are deployed in the environment. The study shows that many markers are required. This makes the solution more of a stationary solution and the mobility requirement is not fulfilled. A simultaneous localization and mapping (slam) solution, where naturally occurring features are used instead of known markers, are suggested solve this problem. Evaluation using real data shows that the provided inertial-camera slam filter suffers from drift but that support from uwb range measurements eliminates this drift. The slam solution is then only dependent on knowing the position of very few stationary uwb transmitters compared to a large number of known fiducial markers. As a last step, to increase the accuracy of the slam filter, it is investigated if and how range measurements can be complemented with velocity measurement obtained as a resu...

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“…Tani et al [31] describe a user interface for manipulating physical controls on remote machinery through an augmented video interface. TouchMe [10] applies direct-manipulation techniques for remote robot control using video see-through AR and a touch-screen interface. Ishii et al [15] enable real-world pointing and gesturing for robot control, using a tracked laser with projected visual feedback.…”

Section: Ar Interfaces For Control Of Physical Objectsmentioning

confidence: 99%

Sublimate

Leithinger

Follmer

Olwal

et al. 2013

Proceedings of the SIGCHI Conference on Human Factors in Computing Systems

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Recent research in 3D user interfaces pushes towards immersive graphics and actuated shape displays. Our work explores the hybrid of these directions, and we introduce sublimation and deposition, as metaphors for the transitions between physical and virtual states. We discuss how digital models, handles and controls can be interacted with as virtual 3D graphics or dynamic physical shapes, and how user interfaces can rapidly and fluidly switch between those representations. To explore this space, we developed two systems that integrate actuated shape displays and augmented reality (AR) for co-located physical shapes and 3D graphics. Our spatial optical see-through display provides a single user with head-tracked stereoscopic augmentation, whereas our handheld devices enable multi-user interaction through video seethrough AR. We describe interaction techniques and applications that explore 3D interaction for these new modalities. We conclude by discussing the results from a user study that show how freehand interaction with physical shape displays and co-located graphics can outperform wand-based interaction with virtual 3D graphics.

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TouchMe: An Augmented Reality Interface for Remote Robot Control

Cited by 52 publications

References 15 publications

exTouch

exTouch

On Pose Estimation in Room-Scaled Environments

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