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Augmented reality on robot navigation using non-central catadioptric cameras

Authors:

Nuno Goncalves,

Pedro U. LimaAuthors Info & Claims

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Pages 4999 - 5004

https://doi.org/10.1109/IROS.2015.7354080

Published: 28 September 2015 Publication History

Abstract

In this paper we present a framework for the application of augmented reality to a mobile robot, using non-central camera systems. Considering a virtual object in the world with known local 3D coordinates, the goal is to project this object into the image of a non-central catadioptric imaging device. We propose a solution to this problem which allows us to project textured objects to the image in real-time (up to 20 fps): 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 real-time localization 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 test the solution using a mobile robot and a non-central catadioptric camera (using a spherical mirror).

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Cited By

Suzuki RKarim AXia THedayati HMarquardt N(2022)Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic InterfacesProceedings of the 2022 CHI Conference on Human Factors in Computing Systems10.1145/3491102.3517719(1-33)Online publication date: 29-Apr-2022
https://dl.acm.org/doi/10.1145/3491102.3517719

Index Terms

Augmented reality on robot navigation using non-central catadioptric cameras
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
  2. Computer graphics
    1. Graphics systems and interfaces
      1. Virtual reality
2. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction paradigms
      1. Mixed / augmented reality
      2. Virtual reality

Index terms have been assigned to the content through auto-classification.

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cover image Guide Proceedings

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Sep 2015

6501 pages

Copyright © 2015.

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IEEE Press

Publication History

Published: 28 September 2015

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Cited By

Suzuki RKarim AXia THedayati HMarquardt N(2022)Augmented Reality and Robotics: A Survey and Taxonomy for AR-enhanced Human-Robot Interaction and Robotic InterfacesProceedings of the 2022 CHI Conference on Human Factors in Computing Systems10.1145/3491102.3517719(1-33)Online publication date: 29-Apr-2022
https://dl.acm.org/doi/10.1145/3491102.3517719

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