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[Slide 2]
□ Introduction
□ Objectives
□ Related Works
□ Distributed Architecture
□ Multimodal Positioning System
□ Vision ...
[Slide 3]
□ Introduction
□ Objectives
□ Related Works
□ Distributed Architecture
□ Multimodal Positioning System
□ Vision ...
[Slide 4]
□ Introduction
□ Objectives
□ Related Works
□ Distributed Architecture
□ Multimodal Positioning System
□ Vision ...
[Slide 5]
□ Introduction
□ Objectives
□ Related Works
□ Distributed Architecture
□ Multimodal Positioning System
□ Vision ...
[Slide 6]
□ Introduction
□ Objectives
□ Related Works
□ Distributed Architecture
□ Multimodal Positioning System
□ Vision-...
[Slide 7]
□ Introduction
□ Objectives
□ Related Works
□ Distributed Architecture
□ Multimodal Positioning System
□ Vision-...
[Slide 8]
□ Introduction
□ Objectives
□ Related Works
□ Distributed Architecture
□ Multimodal Positioning System
□ Vision-...
Introduction
Intro Objectives Related Architecture Results Future26/10/2012
[Slide 9]Carlos Gonzalez Morcillo (Carlos.Gonz...
Input Bin
Introduction
26/10/2012
[Slide 10]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La...
Introduction
26/10/2012
[Slide 11]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
In...
Introduction
26/10/2012
[Slide 12]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
In...
Input Bin
26/10/2012
[Slide 13]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
Input Bin
26/10/2012
[Slide 14]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
Input Bin
26/10/2012
[Slide 15]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
Input Bin
26/10/2012
[Slide 16]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
Input Bin
26/10/2012
[Slide 17]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
Input Bin
26/10/2012
[Slide 18]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
Input Bin
26/10/2012
[Slide 19]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
Input Bin
26/10/2012
[Slide 20]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro...
26/10/2012
[Slide 21]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 22]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 23]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 24]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 25]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 26]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 27]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 28]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
ContactLenses,ContactLenses,
TheFuture?TheFuture?
AR Contact Lenses Prototype
26/10/2012
[Slide 29]Carlos Gonzalez Morcill...
26/10/2012
[Slide 30]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 31]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
Objectives
Intro Objectives Related Architecture Results Future26/10/2012
[Slide 32]Carlos Gonzalez Morcillo (Carlos.Gonza...
Input Bin
Objectives
26/10/2012
[Slide 33]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La M...
Input Bin
Objectives
26/10/2012
[Slide 34]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La M...
Input Bin
Objectives
26/10/2012
[Slide 35]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La M...
Input Bin
Objectives
26/10/2012
[Slide 36]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La M...
Input Bin
Objectives
26/10/2012
[Slide 37]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La M...
Input Bin
Sub-Objectives
26/10/2012
[Slide 38]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-...
Input Bin
Sub-Objectives
26/10/2012
[Slide 39]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-...
Input Bin
Sub-Objectives
26/10/2012
[Slide 40]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-...
Input Bin
Sub-Objectives
26/10/2012
[Slide 41]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-...
Input Bin
Sub-Objectives
26/10/2012
[Slide 42]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-...
Input Bin
Sub-Objectives
26/10/2012
[Slide 43]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-...
RelatedWorks
Intro Objectives Related Architecture Results Future26/10/2012
[Slide 44]Carlos Gonzalez Morcillo (Carlos.Gon...
VisualTracking
26/10/2012
[Slide 45]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
...
Notonly«Visual»...6DOF
26/10/2012
[Slide 46]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La...
TrackingorLocalization
26/10/2012
[Slide 47]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La...
26/10/2012
[Slide 48]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 49]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 50]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 51]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 52]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
Input Bin
FiducialMarkers:ExampleofUse
26/10/2012
[Slide 53]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – Universit...
FiducialMarkers
Limitations
26/10/2012
[Slide 54]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castil...
FiducialMarkers
Limitations
26/10/2012
[Slide 55]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castil...
FiducialMarkers
Limitations
26/10/2012
[Slide 56]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castil...
26/10/2012
[Slide 57]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 58]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
NaturalFeatureTracking
26/10/2012
[Slide 59]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La...
26/10/2012
[Slide 60]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
ModelBasedTracking
26/10/2012
[Slide 61]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Man...
26/10/2012
[Slide 62]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
On-the-flycalculationTracking
26/10/2012
[Slide 63]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Cast...
26/10/2012
[Slide 64]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 65]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
OurProposal
Intro Objectives Related Architecture Results Future26/10/2012
[Slide 66]Carlos Gonzalez Morcillo (Carlos.Gonz...
Input Bin
26/10/2012
[Slide 67]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Globa...
OurAgentPlatform
26/10/2012
[Slide 68]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Manch...
Video
Stream
Lightweight
Agent
Lightweight
Agent
RFID
Agent
Audio
Stream
Sensor
Layer
Static
Agents
Mobile
Agents
Input Bi...
Tracking
Layer
Inertial
System
Estimator
Agent
Compass
Acelerom.
Gyros.
GPS
Agent
Absolute Methods Relative Methods
Fiduci...
Tracking
Layer
Inertial
System
Estimator
Agent
Compass
Acelerom.
Gyros.
GPS
Agent
Absolute Methods Relative Methods
Fiduci...
Tracking
Layer
Inertial
System
Estimator
Agent
Compass
Acelerom.
Gyros.
GPS
Agent
Absolute Methods Relative Methods
Fiduci...
Tracking
Layer
Inertial
System
Estimator
Agent
Compass
Acelerom.
Gyros.
GPS
Agent
Absolute Methods Relative Methods
Fiduci...
TrackingLayer
26/10/2012
[Slide 74]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
I...
TrackingLayer
26/10/2012
[Slide 75]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
I...
 Fiducial Markers (ARToolKit).
 On-the-fly Reconstruction (PTAMM).
 Visual Descriptors. QBIC.
 Lucene Indexes: ColourL...
TrackingLayer:VisualDescriptors
26/10/2012
[Slide 77]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Ca...
TrackingLayer
26/10/2012
[Slide 78]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
I...
Tracking
Layer
Inertial
System
Estimator
Agent
Compass
Acelerom.
Gyros.
GPS
Agent
Absolute Methods Relative Methods
Fiduci...
FusionLayer
26/10/2012
[Slide 80]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Int...
FuzzyController
26/10/2012
[Slide 81]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha...
26/10/2012
[Slide 82]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 83]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
Results
Intro Objectives Related Architecture Results Future26/10/2012
[Slide 84]Carlos Gonzalez Morcillo (Carlos.Gonzalez...
Input Bin
Results
26/10/2012
[Slide 85]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Manc...
FutureWorks
Intro Objectives Related Architecture Results Future26/10/2012
[Slide 86]Carlos Gonzalez Morcillo (Carlos.Gonz...
26/10/2012
[Slide 87]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 88]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 89]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 90]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
26/10/2012
[Slide 91]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
Intro Objective...
Indoor Navigation Infraestructure based on Augmented Reality Techniques
Indoor Navigation Infraestructure based on Augmented Reality Techniques
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Indoor Navigation Infraestructure based on Augmented Reality Techniques

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Indoor Navigation Infraestructure based on Augmented Reality Techniques, RECPAD 2012, 18th edition of the Portuguese Conference on Pattern Recognition (Coimbra - ISEC)

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Indoor Navigation Infraestructure based on Augmented Reality Techniques

  1. 1. [Slide 2] □ Introduction □ Objectives □ Related Works □ Distributed Architecture □ Multimodal Positioning System □ Vision Based Methods □ Results □ Open Challenges Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Contents 26/10/2012 Intro Objectives Related Architecture Results Future
  2. 2. [Slide 3] □ Introduction □ Objectives □ Related Works □ Distributed Architecture □ Multimodal Positioning System □ Vision Based Methods □ Results □ Open Challenges Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Contents 26/10/2012 Intro Objectives Related Architecture Results Future
  3. 3. [Slide 4] □ Introduction □ Objectives □ Related Works □ Distributed Architecture □ Multimodal Positioning System □ Vision Based Methods □ Results □ Open Challenges Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Contents 26/10/2012 Intro Objectives Related Architecture Results Future
  4. 4. [Slide 5] □ Introduction □ Objectives □ Related Works □ Distributed Architecture □ Multimodal Positioning System □ Vision Based Methods □ Results □ Open Challenges Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Contents 26/10/2012 Intro Objectives Related Architecture Results Future
  5. 5. [Slide 6] □ Introduction □ Objectives □ Related Works □ Distributed Architecture □ Multimodal Positioning System □ Vision-Based Methods □ Results □ Open Challenges Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Contents 26/10/2012 Intro Objectives Related Architecture Results Future
  6. 6. [Slide 7] □ Introduction □ Objectives □ Related Works □ Distributed Architecture □ Multimodal Positioning System □ Vision-Based Methods □ Results □ Open Challenges Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Contents 26/10/2012 Intro Objectives Related Architecture Results Future
  7. 7. [Slide 8] □ Introduction □ Objectives □ Related Works □ Distributed Architecture □ Multimodal Positioning System □ Vision-Based Methods □ Results □ Open Challenges Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Contents 26/10/2012 Intro Objectives Related Architecture Results Future
  8. 8. Introduction Intro Objectives Related Architecture Results Future26/10/2012 [Slide 9]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
  9. 9. Input Bin Introduction 26/10/2012 [Slide 10]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  10. 10. Introduction 26/10/2012 [Slide 11]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  11. 11. Introduction 26/10/2012 [Slide 12]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  12. 12. Input Bin 26/10/2012 [Slide 13]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  13. 13. Input Bin 26/10/2012 [Slide 14]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  14. 14. Input Bin 26/10/2012 [Slide 15]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  15. 15. Input Bin 26/10/2012 [Slide 16]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  16. 16. Input Bin 26/10/2012 [Slide 17]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  17. 17. Input Bin 26/10/2012 [Slide 18]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  18. 18. Input Bin 26/10/2012 [Slide 19]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  19. 19. Input Bin 26/10/2012 [Slide 20]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future WhatisAugmentedReality?  Variation of Virtual Environments where virtual objects are superimposed over the real world.  Characteristics [Azuma97]:  Real + Virtual  Interactive  Registered in 3D
  20. 20. 26/10/2012 [Slide 21]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Morethanjust«Location»...
  21. 21. 26/10/2012 [Slide 22]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Morethanjust«Location»...  How to measure Camera Pose (6DOF): Tracking
  22. 22. 26/10/2012 [Slide 23]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Morethanjust«Location»...  How to measure Camera Pose (6DOF): Tracking Identify well-known points
  23. 23. 26/10/2012 [Slide 24]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Morethanjust«Location»...  How to measure Camera Pose (6DOF): Tracking Table Surface Identify well-known points
  24. 24. 26/10/2012 [Slide 25]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Morethanjust«Location»...  How to measure Camera Pose (6DOF): Tracking Table Surface Table Surface Identify well-known points
  25. 25. 26/10/2012 [Slide 26]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future ARMarket(JuniperResearch) Total Mobile AR Revenues on Mobile Devices Split by Category MillionsofDollars
  26. 26. 26/10/2012 [Slide 27]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Morethana«TrendingTopic» Augmented Reality Virtual Reality Google Trends
  27. 27. 26/10/2012 [Slide 28]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Morethana«TrendingTopic» Augmented Reality Virtual Reality Google Trends Search Volume Index (by Country) Spain: 18 Portugal: 31 France: 12 UK: 61 Germany: 54 Netherlands: 80 USA: 46 India: 63
  28. 28. ContactLenses,ContactLenses, TheFuture?TheFuture? AR Contact Lenses Prototype 26/10/2012 [Slide 29]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future B. Parviz et al. (2009) University of Washington
  29. 29. 26/10/2012 [Slide 30]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Google«ProjectGlass» Google+: g.co/projectglass 4th April 2012
  30. 30. 26/10/2012 [Slide 31]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future AworldofLocation-BasedServices [Video]
  31. 31. Objectives Intro Objectives Related Architecture Results Future26/10/2012 [Slide 32]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
  32. 32. Input Bin Objectives 26/10/2012 [Slide 33]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Not use AR «wish list» Large Databases Softcomputing Techniques Scalable Approach
  33. 33. Input Bin Objectives 26/10/2012 [Slide 34]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future To not use AR «wish list» Large Databases Softcomputing Techniques Scalable Approach
  34. 34. Input Bin Objectives 26/10/2012 [Slide 35]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Large Databases Softcomputing Techniques Scalable Approach To not use AR «wish list»
  35. 35. Input Bin Objectives 26/10/2012 [Slide 36]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Large Databases Softcomputing Techniques Scalable Approach To not use AR «wish list»
  36. 36. Input Bin Objectives 26/10/2012 [Slide 37]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Large Databases Softcomputing Techniques Scalable Approach To not use AR «wish list»
  37. 37. Input Bin Sub-Objectives 26/10/2012 [Slide 38]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Multi-Layer Architecture  Task Delegation for Multiple Services  Efficient Platform  Transparent Location  Based on Intelligent Agents (Wooldridge):  Autonomy  Social ability  Reactivity  Proactivity
  38. 38. Input Bin Sub-Objectives 26/10/2012 [Slide 39]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Multi-Layer Architecture  Task Delegation for Multiple Services  Efficient Platform  Transparent Location  Based on Intelligent Agents (Wooldridge):  Autonomy  Social ability  Reactivity  Proactivity
  39. 39. Input Bin Sub-Objectives 26/10/2012 [Slide 40]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Multi-Layer Architecture  Task Delegation for Multiple Services  Efficient Platform  Transparent Location  Based on Intelligent Agents (Wooldridge):  Autonomy  Social ability  Reactivity  Proactivity
  40. 40. Input Bin Sub-Objectives 26/10/2012 [Slide 41]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Multi-Layer Architecture  Task Delegation for Multiple Services  Efficient Platform  Transparent Location  Based on Intelligent Agents (Wooldridge):  Autonomy  Social ability  Reactivity  Proactivity
  41. 41. Input Bin Sub-Objectives 26/10/2012 [Slide 42]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Multi-Layer Architecture  Task Delegation for Multiple Services  Efficient Platform  Transparent Location  Based on Intelligent Agents (Wooldridge):  Autonomy  Social ability  Reactivity  Proactivity
  42. 42. Input Bin Sub-Objectives 26/10/2012 [Slide 43]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Multi-Layer Architecture  Task Delegation for Multiple Services  Efficient Platform  Transparent Location  Based on Intelligent Agents (Wooldridge):  Autonomy  Social ability  Reactivity  Proactivity
  43. 43. RelatedWorks Intro Objectives Related Architecture Results Future26/10/2012 [Slide 44]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
  44. 44. VisualTracking 26/10/2012 [Slide 45]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Compute camera pose using local frame of reference. Compute Relative Pose
  45. 45. Notonly«Visual»...6DOF 26/10/2012 [Slide 46]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  [Poner Vídeo de I. Shutterland]
  46. 46. TrackingorLocalization 26/10/2012 [Slide 47]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Relative or Absolute...  + Known Points + Precision  «Easy» definition of relations
  47. 47. 26/10/2012 [Slide 48]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Relative or Absolute...  + Known Points + Precision  «Easy» definition of relations TrackingorLocalization
  48. 48. 26/10/2012 [Slide 49]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Global Position Composite Matrix  Relative or Absolute...  + Known Points + Precision  «Simple» definition of relations TrackingorLocalization
  49. 49. 26/10/2012 [Slide 50]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future ExternalCameras Obtain camera pose with respect to fixed video sources.
  50. 50. 26/10/2012 [Slide 51]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future VisualTrackingMethods Fiducial Markers Markerless Based Methods  Natural Feature Tracking (KeyPoint)  Model Based (IPB, PS, ...)  On-the-fly reconstruction (SLAM)  Hybrid Methods (+IMU...)
  51. 51. 26/10/2012 [Slide 52]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future FiducialMarkers Binarization Components Extraction Vertexes and Edge Detection MarkersSearch 2DPosition Perspective PatternID GetTransMat 3DRendering
  52. 52. Input Bin FiducialMarkers:ExampleofUse 26/10/2012 [Slide 53]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Virtual Museum of Computing 2007 (ESI/UCLM) http://www.esi.uclm.es/museo/
  53. 53. FiducialMarkers Limitations 26/10/2012 [Slide 54]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Marker Size (cm) Detection(Dist)(cm) Error / Marker Size (cm) Rotation
  54. 54. FiducialMarkers Limitations 26/10/2012 [Slide 55]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Origin of GRS placed at the center of the Marker. Result of propagating the same error  Be careful when using them as a localization method... Propagation error!
  55. 55. FiducialMarkers Limitations 26/10/2012 [Slide 56]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Origin of GRS placed at the center of the Marker. Result of propagating the same error  Be careful when using them as localization method... Propagate error!
  56. 56. 26/10/2012 [Slide 57]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future VisualTrackingMethods Fiducial Markers Markerless-Based Methods  Natural Feature Tracking (KeyPoint)  Model Based (IPB, PS, ...)  On-the-fly reconstruction (SLAM)  Hybrid Methods (+IMU...)
  57. 57. 26/10/2012 [Slide 58]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future VisualTrackingMethods Fiducial Markers Markerless-Based Methods  Natural Feature Tracking (KeyPoint)  Model Based (IPB, PS, ...)  On-the-fly reconstruction (SLAM)  Hybrid Methods (+IMU...)
  58. 58. NaturalFeatureTracking 26/10/2012 [Slide 59]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Keypoint Extraction (Offline)  Keypoint Matching  Pose Calculation
  59. 59. 26/10/2012 [Slide 60]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future VisualTrackingMethods Fiducial Markers Markerless-Based Methods  Natural Feature Tracking (KeyPoint)  Model Based (IPB, PS, ...)  On-the-fly reconstruction (SLAM)  Hybrid Methods (+IMU...)
  60. 60. ModelBasedTracking 26/10/2012 [Slide 61]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Control Points Sampling  Visible Edges Detection  Control Points Matching  Pose Calculation
  61. 61. 26/10/2012 [Slide 62]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future VisualTrackingMethods Fiducial Markers Markerless-Based Methods  Natural Feature Tracking (KeyPoint)  Model Based (IPB, PS, ...)  On-the-fly reconstruction (SLAM)  Hybrid Methods (+IMU...)
  62. 62. On-the-flycalculationTracking 26/10/2012 [Slide 63]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future PTAMM [Castle 2010]
  63. 63. 26/10/2012 [Slide 64]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future VisualTrackingMethods Fiducial Markers Markerless-Based Methods  Natural Feature Tracking (KeyPoint)  Model Based (IPB, PS, ...)  On-the-fly reconstruction (SLAM)  Hybrid Methods (+IMU...)
  64. 64. 26/10/2012 [Slide 65]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future PreviousWork:HesperiaProject
  65. 65. OurProposal Intro Objectives Related Architecture Results Future26/10/2012 [Slide 66]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
  66. 66. Input Bin 26/10/2012 [Slide 67]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Global Location Architecture  Distributed  Middleware: ZeroC Ice  Location Providers
  67. 67. OurAgentPlatform 26/10/2012 [Slide 68]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  68. 68. Video Stream Lightweight Agent Lightweight Agent RFID Agent Audio Stream Sensor Layer Static Agents Mobile Agents Input Bin ARLocation&RenderingService 26/10/2012 [Slide 69]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  69. 69. Tracking Layer Inertial System Estimator Agent Compass Acelerom. Gyros. GPS Agent Absolute Methods Relative Methods Fiducial Agent Leds Agent Point T. Agent Op. Flow Agent Video Stream Lightweight Agent Lightweight Agent RFID Agent Audio Stream Sensor Layer Static Agents Mobile Agents ARLocation&RenderingService 26/10/2012 [Slide 70]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  70. 70. Tracking Layer Inertial System Estimator Agent Compass Acelerom. Gyros. GPS Agent Absolute Methods Relative Methods Fiducial Agent Leds Agent Point T. Agent Op. Flow Agent Video Stream Lightweight Agent Lightweight Agent RFID Agent Audio Stream Sensor Layer Fusion Layer Historical Perception Agent Perception Fusion Agent Static Agents Mobile Agents ARLocation&RenderingService 26/10/2012 [Slide 71]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  71. 71. Tracking Layer Inertial System Estimator Agent Compass Acelerom. Gyros. GPS Agent Absolute Methods Relative Methods Fiducial Agent Leds Agent Point T. Agent Op. Flow Agent Video Stream Lightweight Agent Lightweight Agent RFID Agent Audio Stream Sensor Layer Fusion Layer Historical Perception Agent Perception Fusion Agent 3D Repr. Manager Agent Phone Agent HMD Agent TabletPC Agent Representation Layer MultiAgent Render Grid Static Agents Mobile Agents ARLocation&RenderingService 26/10/2012 [Slide 72]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  72. 72. Tracking Layer Inertial System Estimator Agent Compass Acelerom. Gyros. GPS Agent Absolute Methods Relative Methods Fiducial Agent Leds Agent Point T. Agent Op. Flow Agent Video Stream Lightweight Agent Lightweight Agent RFID Agent Audio Stream Sensor Layer Fusion Layer Historical Perception Agent Perception Fusion Agent 3D Repr. Manager Agent Phone Agent HMD Agent TabletPC Agent Representation Layer Service Layer MultiAgent Render Grid 3D Model Repository AgentFace Identification Agent Interaction Agent Authentication Agent Static Agents Mobile Agents ARLocation&RenderingService 26/10/2012 [Slide 73]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  73. 73. TrackingLayer 26/10/2012 [Slide 74]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Fiducial Markers (ARToolKit).  Tool for tuning marker position.
  74. 74. TrackingLayer 26/10/2012 [Slide 75]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Fiducial Markers (ARToolKit).  On-the-fly Recons- truction (PTAMM).  Tool to obtain pose and scale of PTAM Maps.
  75. 75.  Fiducial Markers (ARToolKit).  On-the-fly Reconstruction (PTAMM).  Visual Descriptors. QBIC.  Lucene Indexes: ColourLayout and Edge Histogram.  Query: Voronoi Tree. TrackingLayer 26/10/2012 [Slide 76]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  76. 76. TrackingLayer:VisualDescriptors 26/10/2012 [Slide 77]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future Position: 2.5, 5.5 Rotation: 135º
  77. 77. TrackingLayer 26/10/2012 [Slide 78]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future  Fiducial Markers (ARToolKit).  On-the-fly Reconstruction (PTAMM).  Visual Descriptors.  Stereo Location. 1. Features to track: Shi-Tomasi. 2. Optical-Flow: Lucas-Kanade. 3. Fundamental Matrix: LmedS. 4. Fundamental + Intrinsic = Essential Rotation Estimation (Rodrígues).
  78. 78. Tracking Layer Inertial System Estimator Agent Compass Acelerom. Gyros. GPS Agent Absolute Methods Relative Methods Fiducial Agent Leds Agent Point T. Agent Op. Flow Agent Video Stream Lightweight Agent Lightweight Agent RFID Agent Audio Stream Sensor Layer Fusion Layer Historical Perception Agent Perception Fusion Agent 3D Repr. Manager Agent Phone Agent HMD Agent TabletPC Agent Representation Layer Service Layer MultiAgent Render Grid 3D Model Repository AgentFace Identification Agent Interaction Agent Authentication Agent Static Agents Mobile Agents ARLocation&RenderingService 26/10/2012 [Slide 79]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  79. 79. FusionLayer 26/10/2012 [Slide 80]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future With Historical Without Hist.  Objective: Tracking Stabilization.  Solution: Use of a historical vector.  Issues: Precision loss.
  80. 80. FuzzyController 26/10/2012 [Slide 81]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future OpticalFlow PTAM Weight NG NP Z PP PG NG NP Z PP PG LOW MED HIGH Weight
  81. 81. 26/10/2012 [Slide 82]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future R1/ if(OF == NG & PT == NG) -> P = HIGH; R2/ if(OF == NP & PT == NP) -> P = HIGH; R3/ if(OF == Z & PT == Z) -> P = HIGH; R4/ if(OF == PP & PT == PP) -> P = HIGH; R5/ if(OF == PG & PT == PG) -> P = HIGH; R6/ if((OF == PP | OF == PG) & (PT == NP | PT == NG)) -> P = LOW; R7/ if((OF == NP | OF == NG) & (PT == PP | PT == PG)) -> P = LOW; R8/ if((OF == NP | OF == Z) & PT == NG) -> P = MED; R9/ if((OF == PP | OF == Z) & PT == PG) -> P = MED; R10/ if(OF == NG & (PT == NP | PT == Z)) -> P = MED; R11/ if(OF == PG & (PT == PP | PT == Z)) -> P = MED; Fuzzy Controller (11 Rules): FuzzyController
  82. 82. 26/10/2012 [Slide 83]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future FuzzyController
  83. 83. Results Intro Objectives Related Architecture Results Future26/10/2012 [Slide 84]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
  84. 84. Input Bin Results 26/10/2012 [Slide 85]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future
  85. 85. FutureWorks Intro Objectives Related Architecture Results Future26/10/2012 [Slide 86]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha
  86. 86. 26/10/2012 [Slide 87]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future OpenChallenges
  87. 87. 26/10/2012 [Slide 88]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future OpenChallenges
  88. 88. 26/10/2012 [Slide 89]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future OpenChallenges
  89. 89. 26/10/2012 [Slide 90]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future OpenChallenges
  90. 90. 26/10/2012 [Slide 91]Carlos Gonzalez Morcillo (Carlos.Gonzalez@uclm.es) – University of Castilla-La Mancha Intro Objectives Related Architecture Results Future OpenChallenges

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