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간단한 기구부와 결합한 공간증강현실 시스템의 샘플 기반 제어 방법
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- Issue Date
- 2014-12
- Citation
- 한국CAD/CAM학회논문집, v.19, no.4, pp.356-367
- ISSN
- 1226-0606
- Publisher
- 한국CAD/CAM학회 (SCCE)
- Language
- Korean
- Type
- Journal Article
- Abstract
- A robotic sapatial augmented reality (RSAR) system, which combines robotic components withprojector-based AR technique, is unique in its ability to expand the user interaction area bydynamically changing the position and orientation of a projector-camera unit (PCU). For a movingPCU mounted on a conventional robotic device, we can compute its extrinsic parametersusing a robot kinematics method assuming a link and joint geometry is available. In a RSARsystem based on user-created robot (UCR), however, it is difficult to calibrate or measure thegeometric configuration, which limits to apply a conventional kinematics method. In this paper,we propose a data-driven kinematics control method for a UCR-based RSAR system. The proposedmethod utilized a pre-sampled data set of camera calibration acquired at sufficientinstances of kinematics configurations in fixed joint domains. Then, the sampled set is compactlyrepresented as a set of B-spline surfaces. The proposed method have merits in two folds. First, it does not require any kinematics model such as a link length or joint orientation. Secondly,the computation is simple since it just evaluates a several polynomials rather than relyingon Jacobian computation. We describe the proposed method and demonstrates the results foran experimental RSAR system with a PCU on a simple pan-tilt arm.
- KSP Keywords
- Augmented reality(AR), B-Spline, Camera Calibration, Data sets, Data-Driven, Fixed joint, Interaction area, Joint geometry, Kinematics Model, Link Length, Position and orientation