IROS 2015 Paper Abstract


Paper ThCT5.6

Dias, Tiago (Institute of Systems and Robotics - University of Coimbra), Miraldo, Pedro (Instituto Superior Técnico, University of Lisbon), Gonçalves, Nuno (University of Coimbra), Lima, Pedro (Instituto Superior Técnico - Institute for Systems and Robotics)

Augmented Reality on Robot Navigation Using Non-Central Catadioptric Cameras

Scheduled for presentation during the Regular session "Reactive and Sensor-Based Planning" (ThCT5), Thursday, October 1, 2015, 12:35−12:50, Saal A3

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on May 25, 2019

Keywords Omnidirectional Vision, Human-Robot Interaction, Computer Vision


In this paper we present a framework for the application of augmented reality to a robot navigation using non-central camera systems. Considering a virtual object in the world with known 3D coordinates, the goal is to project this object into the image of a non-central catadioptric camera. We propose a solution to this problem which allows us to project texturized objects to the image in realtime, up to 20 fps (using a laptop): projection of 3D segments to the image; occlusions; and illumination. In addition, since we are considering that the imaging device is on a mobile robot, one needs to take into account the realtime localisation of the robot. To the best of our knowledge this is the first time that this problem is addressed (all state-of-the-art methods are derived for central camera systems). To evaluate the proposed framework we created a virtual cube with texturized faces and to validate the method we used two well known objects in computer graphics, the Stanford “Bunny” and the “happy buddha”.



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