Interactive in real-time. 3.Registered in 3D ... estimated. 11. Introduction. Institut Pascal. T. Chateau. AR: how does it works? ... Matching. 4.Pose Estimation. 5.
1.Introduction! 2.Detectors and Descriptors for Augmented Reality! 3.Geometry for Augmented Reality! 4.Localization and Tracking for Augmented Reality!
2014
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T. Chateau
2
T. Chateau
1
Institut Pascal
2
Introduction
Introduction
Augmented reality is nowadays a wonderful communica4on tool
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T. Chateau
Institut Pascal
3
Augmented reality is nowadays a wonderful communica4on tool
4
T. Chateau
Institut Pascal
4
Introduction
Introduction
AR: defini4on
AR Vs RV
Defining characteristics [Azuma 97]! 1.Combine real and virtual images (both can be seen at the same time)! 2.Interactive in real-time! 3.Registered in 3D (virtual objects appear fixed in space)!
Virtual reality: replaces reality! ! !
Augmented reality: enhances reality! !
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T. Chateau
Institut Pascal
6
T. Chateau
Institut Pascal
5
6
Introduction
Introduction
AR: how does it works?
AR: how does it works?
7
T. Chateau
Institut Pascal
7
8
T. Chateau
Institut Pascal
8
Introduction
Introduction
AR: how does it works?
AR: how does it works? a geometrical point of view
9
T. Chateau
Institut Pascal
10
T. Chateau
Institut Pascal
9
10
Introduction
Introduction
AR: how does it works?
AR: how does it works? a geometrical point of view
To be estimated
a geometrical point of view Scene augmenta4on: Object augmenta4on: Tracking
Localiza4on
11
T. Chateau
Institut Pascal
11
12
T. Chateau
Institut Pascal
12
Introduction
Introduction
AR: how does it works?
AR: how does it works?
a geometrical point of view 2D localiza4on 3D localiza4on planar geometry
more complex geometry
!
a geometrical point of view
The Classical AR localization process! 1.Interest Point Detector ! 2.Descriptor! 3.Matching! 4.Pose Estimation ! 5.Augmented objects projection! !
13
T. Chateau
Institut Pascal
14
T. Chateau
Institut Pascal
13
14
Introduction
Introduction
AR: how does it works?
AR: how does it works?
a geometrical point of view
a geometrical point of view
The Classical AR localization process! 1.Interest Point Detector !
The Classical AR localization process! 2.)Descriptor! (z1,z2,z3,…,Zn)
!
(…) (…) … (…) 15
T. Chateau
Institut Pascal
15
16
T. Chateau
Institut Pascal
16
Introduction
Introduction
AR: how does it works?
AR: how does it works?
a geometrical point of view
a geometrical point of view
The Classical AR localization process! Matching!
The Classical AR localization process! Pose estimation!
!
!
17
T. Chateau
Institut Pascal
17
AR: how does it works? a geometrical point of view
The Classical AR localization process! Augmented objects projection! !
the landmarks necessary for the operation (such as the loca- ... of the application presented below have come to various ... of the stereoscopic matching algorithm was developed [7] .... Another subject of research pursued within the CHIR.
narography and CT-scan or MRI, calibrating the stereo- ... The introduction of robots in cardio-vascular surgery ... to be calibrated for further image processing.
a given 3D model [1,2] or the feature points are reconstructed online during the ... any preprocessing but performs an online estimation of the tracking probability.
Such applications are very resource-demanding and critically interdependent on the ... To illustrate the poten- tial impacts such technologies might have in our everyday lives, a demon- ... Mobile Augmented Reality Applications for Smart Cities by Ma
ity is in particular considerable for LCD projectors.6. Several partial solutions have been proposed for the color-calibration problem.2 In the gamut-matching.
the color inside each projector is spatially uniform, the set of displayable colors â the color gamut ... used a point light-sensing device (spectroradiometer or col-.
a given 3D model [1,2] or the feature points are reconstructed online during the ... any preprocessing but performs an online estimation of the tracking probability.
Since 2006 the authors of this paper (from a research laboratory and a national ballet ... Systems]: Information interfaces and presentationâUser Interface. 1 INTRODUCTION ...... of interactions in live performances becomes more common, but for now
the resolution, accuracy and precision properties of depth as well as spatial .... where p(x, y) is the estimated probability mass function for pixel (x,y). Since. 16 ...
Transportation and in part by the National Science Foundation through grants ... assumptions on the models in order not to restrict our tracker to a single class of ...
environments modeling and accurate camera localization. The ef- ... Earth) and are globally consistent, i.e. the 3D information they pro- vide is drift free.
cific image processing, to enhance local and particular features (bone or suture). An augmented reality image is presented to the human expert, to focus on main ...
May 10, 2005 - 6 Programming Localization of Patient May 20 Jun 3 ..... processing, particularly OpenGL, and also developing a software in C/C++ language. .... Retro-reflective Projection Technology (RPT)â, Proceedings of the 5th Virtual.
Atmospheric visibility distance is a property of the at- mosphere, which can be remotely sensed by computer vi- sion. In this aim, a non-linear mapping function ...
ternal data source, e.g. a visibility meter, and an image- based visibility ... uniform illumination. [3] proposed a .... Let us denote Ï the probability density function of ob- serving a ... where âÏ denotes the mean albedo difference between th
Z. Chama : Image recovery from the Fourier phase (Fourier Synthesis). ⢠F. Humblot : Super-resolution from a set of lower resolution images. ⢠N. Bali : Source ...
May 5, 2011 - Words->Parts of Speech->Sentences->Text. Objects,Actions .... A typical ConvNet is computed at an average of 80 to 90% (end-to- end) of the ...... Using an idea from Hyvarinen: topographic square pooling (subspace ICA). 1.
thesis describes work towards a computer vision system to enable a ... The face localisation, feature detection and tracking solutions presented in ... Provisional Patent #PS1405, Method for Automatic Detection of Facial ..... 5.13 Closeup view of a
Oct 6, 1978 - Expert in Business & Technology management, Deusto Business ... FP7 European project COGLABORATION on physical human robot ... DEA training stage, related to the organization of the visual memory of a robotic system (2004) .... Handbook
May 5, 2011 - Words->Parts of Speech->Sentences->Text. Objects,Actions .... A typical ConvNet is computed at an average of 80 to 90% (end-to- end) of the ...... Using an idea from Hyvarinen: topographic square pooling (subspace ICA). 1.
a CMM requires point-by-point scanning of the object sur- face, which is ... measurement can be divided into two categories: coherent ... source interferometer.
