AUGMENTED REALITY
    FOR PROGRAMMERS

            Andrew Bibichev
            2010, September
AR                             AR
                     AR
                          AR
           AR



                  ...
Link
Link
Link
   
Link
   
VIRTUAL REALITY

       Real Life
       Context

       Generated
       Content
AUGMENTED REALITY


          Real Life
          Context

          Generated
          Content
AR
     Real Life
     Context

     Generated
     Content

VR
INNOVATIONS IN


INPUT                                OUTPUT
         Processing      Rendering
device                    ...
EARLY 1970s:
FIRST ELECTRONIC KEYBOARD
1977: TOUCH SCREEN
1981: Xerox Star mouse
EARLY 1990s: WEBCAM
1995: Genius EasyScroll mouse
2007: multi touch (iPhone)
2007: WII REMOTE (accelerometer)
JUNE, 2009: WII MOTION+ (gyro)
2010: smart phones
with gyro, accel, GPS, video camera, …
SEP, 2010: SONY MOVE
NOV, 2010: MS KINECT
1984: Apache
Link
   
   
markers


              structured light


Cameras    Z-cameras / Z-sensors

               True Optical:
             sev...
MICROMECHANICAL GYROSCOPE
OUTPUT IS ANGULAR VELOCITY
ERROR ACCUMULATION =>
=> DRIFT == LOW-FREQUENCY NOISE
Link
a

                   g       g-a


Output is (g-a) in coordinate system of device
Case: 1d, a 0

              y
         

             gx
gy
     g            x
Acceler
                            ?
          g x , gy
                                        Angle

            
 Gyr...
KALMAN FILTER IS BASED ON MODELS




                               Link
Link



C++ implementation
COMPLEMENTARY FILTER




amplitude




                        frequency
                                    Link
HOW TO CHOOSE VALUE OF COEFF.?
Link
g


    drift 
B

g


    drift
markers


              structured light


Cameras    Z-cameras / Z-sensors

               True Optical:
             sev...
                    
          W

      H
              d       D
FOV



                  L
W

      H
              d       D
FOV



                  L
HOW TO DETECT MARKER(S) ON IMAGE


                        Threshold
Link
N CAMERAS X M MARKERS
VICON
OPTITRACK
markers


              structured light


Cameras    Z-cameras / Z-sensors

               True Optical:
             sev...
MICROSOFT SURFACE




Link
markers


              structured light


Cameras    Z-cameras / Z-sensors

               True Optical:
             sev...
ROOTS OF NATAL == 3DV ZCAM




                             Link
ABOUT USING OF DATABASES




Link
Camera input           Tiny image




                                       Blended pose of
                             ...
markers


              structured light


Cameras    Z-cameras / Z-sensors

               True Optical:
             sev...
ORGANIC MOTION




                 Link
IPISOFT DESKTOP MOCAP
markers


              structured light


Cameras    Z-cameras / Z-sensors

               True Optical:
             sev...
SOURCE CODE
AUGMENTED REALITY REVENUE
400

350

300

250

200
                             millions of USD
150

100

50

  0
      200...
robustness сущ.
 общ.       здоровье; сила; здравомыслие; трудность; эксплуатационная
            надёжность; прочность
 а...
Augmented Reality
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Augmented Reality

  1. 1. AUGMENTED REALITY FOR PROGRAMMERS Andrew Bibichev 2010, September
  2. 2. AR AR AR AR AR AR AR AR AR AR AR
  3. 3. Link
  4. 4. Link
  5. 5. Link
  6. 6.  
  7. 7. Link
  8. 8.  
  9. 9. VIRTUAL REALITY Real Life Context Generated Content
  10. 10. AUGMENTED REALITY Real Life Context Generated Content
  11. 11. AR Real Life Context Generated Content VR
  12. 12. INNOVATIONS IN INPUT OUTPUT Processing Rendering device device AR VR
  13. 13. EARLY 1970s: FIRST ELECTRONIC KEYBOARD
  14. 14. 1977: TOUCH SCREEN
  15. 15. 1981: Xerox Star mouse
  16. 16. EARLY 1990s: WEBCAM
  17. 17. 1995: Genius EasyScroll mouse
  18. 18. 2007: multi touch (iPhone)
  19. 19. 2007: WII REMOTE (accelerometer)
  20. 20. JUNE, 2009: WII MOTION+ (gyro)
  21. 21. 2010: smart phones with gyro, accel, GPS, video camera, …
  22. 22. SEP, 2010: SONY MOVE
  23. 23. NOV, 2010: MS KINECT
  24. 24. 1984: Apache
  25. 25. Link
  26. 26.    
  27. 27. markers structured light Cameras Z-cameras / Z-sensors True Optical: several cameras True Optical: one moving camera Spec. GPS, accelerometer, sensors gyro, magnetic compass
  28. 28. MICROMECHANICAL GYROSCOPE
  29. 29. OUTPUT IS ANGULAR VELOCITY
  30. 30. ERROR ACCUMULATION => => DRIFT == LOW-FREQUENCY NOISE
  31. 31. Link
  32. 32. a g g-a Output is (g-a) in coordinate system of device
  33. 33. Case: 1d, a 0 y  gx gy g x
  34. 34. Acceler ? g x , gy Angle  Gyro Magic Complementary == Filter Kalman Filter
  35. 35. KALMAN FILTER IS BASED ON MODELS Link
  36. 36. Link C++ implementation
  37. 37. COMPLEMENTARY FILTER amplitude frequency Link
  38. 38. HOW TO CHOOSE VALUE OF COEFF.?
  39. 39. Link
  40. 40. g drift 
  41. 41. B g drift
  42. 42. markers structured light Cameras Z-cameras / Z-sensors True Optical: several cameras True Optical: one moving camera Spec. GPS, accelerometer, sensors gyro, magnetic compass
  43. 43.   W H d D FOV L
  44. 44. W H d D FOV L
  45. 45. HOW TO DETECT MARKER(S) ON IMAGE Threshold
  46. 46. Link
  47. 47. N CAMERAS X M MARKERS
  48. 48. VICON
  49. 49. OPTITRACK
  50. 50. markers structured light Cameras Z-cameras / Z-sensors True Optical: several cameras True Optical: one moving camera Spec. GPS, accelerometer, sensors gyro, magnetic compass
  51. 51. MICROSOFT SURFACE Link
  52. 52. markers structured light Cameras Z-cameras / Z-sensors True Optical: several cameras True Optical: one moving camera Spec. GPS, accelerometer, sensors gyro, magnetic compass
  53. 53. ROOTS OF NATAL == 3DV ZCAM Link
  54. 54. ABOUT USING OF DATABASES Link
  55. 55. Camera input Tiny image Blended pose of nearest neighbors Database nearest neighbors Link
  56. 56. markers structured light Cameras Z-cameras / Z-sensors True Optical: several cameras True Optical: one moving camera Spec. GPS, accelerometer, sensors gyro, magnetic compass
  57. 57. ORGANIC MOTION Link
  58. 58. IPISOFT DESKTOP MOCAP
  59. 59. markers structured light Cameras Z-cameras / Z-sensors True Optical: several cameras True Optical: one moving camera Spec. GPS, accelerometer, sensors gyro, magnetic compass
  60. 60. SOURCE CODE
  61. 61. AUGMENTED REALITY REVENUE 400 350 300 250 200 millions of USD 150 100 50 0 2008 2014 Link
  62. 62. robustness сущ. общ. здоровье; сила; здравомыслие; трудность; эксплуатационная надёжность; прочность автом. надёжность безоп. способность системы восстанавливать работоспособность при возникновении ошибочных ситуаций воен. жёсткость; защищённость выч. устойчивость (к нарушениям исходных предпосылок); "выносливость"; живучесть; устойчивость к нарушениям исходных предпосылок комп. ошибкоустойчивость контр.кач. прочность (конструкции) Макаров робастность (оценки в статистике); устойчивость (к нежелательным, но возможным воздействиям) матем. корректность (метода) рбт. грубость (напр. системы управления) редк. грубость тех. выносливость (к нежелательным, но возможным воздействиям); робастность

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