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학술지 간단한 기구부와 결합한 공간 증강 현실 시스템의 샘플 기반 제어 방법
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이아현, 이주호, 이주행
한국CAD/CAM학회논문집, v.19 no.4, pp.356-367
13FC1500, 현실 세계에 가상 콘텐츠를 결합하는 스마트 프로젝션 기술개발, 김형선
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 제안 키워드
Augmented reality(AR), B-Spline, Camera Calibration, Data sets, Data-Driven, Fixed joint, Interaction area, Joint geometry, Kinematics model, Link Length, Position and orientation