The Image-based data glove presentation
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Slides of the image-based data glove presented during SVR 2008. ...

Slides of the image-based data glove presented during SVR 2008.

Project Page: http://vitorpamplona.com/wiki/The%20Image-Based%20Data%20Glove

Reference: Vitor F. Pamplona, Leandro A. F. Fernandes, João Prauchner, Luciana P. Nedel e Manuel M. Oliveira. The Image-Based Data Glove . Proceedings of X Symposium on Virtual Reality (SVR'2008), João Pessoa, 2008. Anais do SVR 2008, Porto Alegre: SBC, 2008, (ISBN: 857669174-4). pp. 204-211

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  • Reference: Vitor F. Pamplona, Leandro A. F. Fernandes, João Prauchner, Luciana P. Nedel e Manuel M. Oliveira. The Image-Based Data Glove . Proceedings of X Symposium on Virtual Reality (SVR'2008), João Pessoa, 2008. Anais do SVR 2008, Porto Alegre: SBC, 2008, (ISBN: 857669174-4). pp. 204-211
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The Image-based data glove presentation Presentation Transcript

  • 1. The Image-Based Data Glove Vitor F. Pamplona Leandro A. F. Fernandes João L. Prauchner Luciana P. Nedel [email_address] Manuel M. Oliveira
  • 2. Outline
    • Data gloves
    • Our idea
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 3. Outline
    • Data gloves
    • Our idea
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 4. Data Gloves P5 Glove $59.00 6 DOF of motion Fingers flexion 0.5° resolution (90 ° ) 60Hz refresh rate Pinch Glove $1,899.00 6 DOF of motion Pinch gestures only DG5-VHand Glove $485.00 Fingers flexion (10-bit per finger)
  • 5. Data Gloves MidiGlove $1,200.00 Fingers flexion (10-bit per finger) 100-200Hz refresh rate X-IST Data Glove $1,200.00-$1,700.00 Pitch and roll motion (+ $125.00) Fingers flexion (10-bit per finger) 100-200Hz refresh rate 5DT Data Glove $895.00-$1495.00 Pitch and roll motion Fingers flexion (8-bit per finger) 75Hz-200Hz refresh rate
  • 6. Data Gloves CyberGlove II 6 DOF of motion 0.5° resolution 90 records per second ShapeHand $7,500.00-$16,200.00 6 DOF of motion Fingers flexion and adduction
  • 7. Outline
    • Data gloves
    • Our idea
      • The Image-based data glove (IBDG)
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 8. The Idea
    • A low cost full-featured device
    • Markers on each finger tip
    • A single web cam fixed on hand
    • A software to
      • track the position of those markers
      • estimate the position of the finger joints
      • returns the full status of the user fingers
    Webcam Visual Marker
  • 9. Research Challenges
    • Build an image-based data glove
    • Finger tips tracking with flexure and adduction
    • Suitable for existing manipulation techniques
    • Requirements
      • Low Cost
      • Comfort
      • Accuracy and Precision
      • Real time performance
  • 10. Contributions
    • Single camera per hand
    • “ Continuous” tracking of fingers position
    • Reproduction of fingers flexion and adduction
    • Low cost, real time and precise
  • 11. Problems to be solved
    • Tracking system
      • The markers are small
      • The camera has blur and focus lost
      • The tracking system needs to be real time
    • Virtual hand representation and animation
      • The dimensions of the virtual hand must be real
      • The inverse kinematics should be real time
    • Prototype assembling (hardware)
      • The camera position and orientation can not change
      • The markers need to be planar
      • The markers position and orientation can not change
  • 12. Outline
    • Data gloves
    • Our idea
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 13. Tested Tracking Systems
    • ARToolKit
      • Misclassification among patterns
      • Sensitive to focus changes
      • Unstable tracking (jitter)
    • ARTag
      • Needs at least 2 different markers to detects the same object
    • ARToolKitPlus
      • Improved pattern recognition system
      • Stable tracking (less jitter)
      • Automatic thresholding
      • Improved camera calibration model
  • 14. Tested Tracking Systems 10x10 mm, ARToolKitPlus BCH patterns with thin borders 10x10 mm, ARToolKitPlus simple patterns 7x7 mm, ARToolKit patterns
  • 15. Tested Webcam Genius Trek 310 Genius VideoCam NB Creative WebCam PD1001 Creative WebCam Live! Ultra CIF CMOS PC Camera Logitech QuickCam for Notebooks Pro
  • 16. Tracking System and Calibration M k M c M h
  • 17. Outline
    • Data gloves
    • Our idea
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 18. Virtual Hand Representation
    • Hand model from V-ART library
    • Blender Inverse Kinematics Module
  • 19. Outline
    • Data gloves
    • Our idea
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 20. The Prototype
    • Weight 195g
  • 21. The Dices!
  • 22. The FLEA Camera
    • Point Grey Research
    • Developers Experience
    • 30 × 31 mm size
    • High quality images (1024 × 768 pixels) at 30 fps
    • 3.5-10.5 mm Computar Varifocal Lenses.
    • Total weight: 115 g
  • 23. Using The Prototype
  • 24. Summary
    • Hardware
      • Camera to track finger tips
      • Paper and printer to make visual markers
      • Glove, leather and sticks to build the camera support
      • Dices and thimbles
    • Software
      • C++
      • ARToolKitPlus library
      • V-ART library
      • Blender inverse kinematics module
  • 25. Outline
    • Data gloves
    • Our idea
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 26. Device Evaluation
    • Testbed application
    • 15 Subjects
      • 2 women and 13 men
      • 13 right handed and 2 left handed
      • 21 to 38 years old
    • Goals :
      • to verify the quality of the finger tips tracking
      • to verify the gesture reproduction
      • to collect some impressions of the users about IBDG
  • 27. Testbed Application
    • Given a hand gesture, the user must imitate it.
  • 28. Methodology
    • Pre-test questions
    • Calibration section
    • Warm up section
      • Unlimited time for training
    • Task description
      • Six pre-defined hand poses
      • The user imitates them
      • The movements are logged
    • Post-test questions
  • 29. Data Collection and Analysis
    • Store
      • User identification
      • Task parameters
      • Position and orientation of each finger along time
      • Elapsed time
    • Analyze
      • Precision
      • Performance
      • Subjective measures (post-test questions)
  • 30. Outline
    • Data gloves
    • Our idea
    • The tracking system
    • The virtual hand representation and animation
    • The prototype
    • Device evaluation
    • Results and conclusion
  • 31. Precision Analisis
    • Mean observed error: 0.59
    • Confidence interval of 99%;
  • 32. Usability
    • Latency about 237ms (2.4 GHz PC with 2gb of memory)
    • Velocity about 23 fps (640 x 480)
    • Weight about 195g (58% because of the FLEA camera)
    • Maximum size of hands for using our prototype 21.5 cm
    • User opinions to our prototype
      • Comfort: 2.73 (5 means comfortable and 1 uncomfortable)
      • Precision: 2.87 (5 means precise and 1 means imprecise)
    • 80% of the volunteers said they can build their own IBDG
  • 33. Discussion
    • The tracking system (ARToolkitPlus) worked well with
      • Smooth variations in lighting conditions
      • Shadows over the visual patterns
    • For dark places one can use an infrared camera
    • FLEA Camera can be replaced by a newest web cams
      • Improving comfort with a lighter one
      • Decreasing the prototype cost with a cheaper one
      • Wireless or bluetooh enabled camera
    • Thumb can be tracked using a device with a greater field of view
    • The prototype needs a second version!
  • 34. Questions?
    • Luciana Porcher Nedel
    • [email_address]
    The Image-Based Data Glove