1. Interfaces of the Future,
Available Now
Augmented Reality Displays, Google Glass, 3D Sensors bringing
computers into the 3D World.
March 10th, 2014

2. Where’s My Flying Car?

3. So many future promises from movies, so little delivery!

4. Minority Report Hand Gesture Interface, Now Available

5. Leap Sensor ($70) Demonstration
Finger and palm tracking, object translation, scaling and rotation.

6. Talk Outline
● Consumer Technology Enabled Experiences
○ Augmented Reality
○ Wearable & Pervasive Computing
○ Gestural Control
● Technology
○ 3D Sensing
○ Displays
○ Wearable
● New device survey
● Societal Implications
Terminator vision

7. Sentrinsic Background
● Formed in 2006 on patented linear sensing tech from
GaTech lab
● Developed embedded control
system to improve efficiency of
Air-Operated Diaphragm Pumps

8. Sentrinsic Background● Mobile Integration
○ Bluetooth Pump Monitoring
○ Customer iPhone app
■ Scan pumps for documentation, order
parts, track maintenance
■ Product: EquipCodes.com
● Augmented Reality
○ Maintenance
○ Operation Theory
○ Training
● Google Glass Manufacturing
Assembly Training app EquipCodes app

9. Augmented Reality
● What is it?
● Examples
○ 1st & 10 yellow line
○ Simple text
■ translations
■ nearby attractions
■ instructions

10. Augmented Reality Demos
● Pump Maintenance
http://www.youtube.com/watch?v=NYpl0PD5Le4
http://www.youtube.com/watch?v=nHfY56lHZjU
● Circuit Building Guide
http://www.youtube.com/watch?v=AfVQ4N-u0sk

11. Vein Visualization
Evana Eyes-On™ Glasses
multi-spectral imaging

12. Enabling Technology
● Improved cameras, processors, memory
● Pose estimation
○ Fiducial tracking
○ Texture feature-based tracking
○ SLAM - Simultaneous Location and Mapping
○ 3D Sensors

13. Fiducial Tracking
http://www.hitl.washington.
edu/artoolkit/Papers/ART02-Tutorial.pdf
ARToolKit Algorithm
Goal: find pose of
camera (Rotation and
Translation matrix)

14. Texture Feature Matching
● Find interesting points (corners)
○ independent of orientation, scale, lighting
● Use surrounding area to develop fingerprint of feature
(128 pt vector, robust to skew).
● Based on neuron
receptors in visual
cortex, sensitive
to spatial gradients
Distinctive Image Features from Scale-
Invariant Keypoints, Lowe 2004

15. Also used for Image Stitching - Using Feature Recognition

16. Texture Tracking
Tracking Texture Features tracked using Vuforia SDK

17. Texture Feature Matching
● Compare feature vector against database (Euclidian
distance).
● Can’t be regular pattern (checker board)
● High contrast required
● Glare problematic
● Tracker must be large
relative to graphics to
prevent jitter, misalignment.

18. Extensible Tracking
● Environment unknown beforehand
● SLAM (Simultaneous Localization and Mapping) or PTAM (Parallel
Tracking and Mapping)
○ Structure from Motion - Autodesk’s 123D
○ Scene should be static
○ For overlays, requires initial registration, not for games
○ Videos: http://www.youtube.com/watch?v=i7ierVkXYa8 (3D structure from 2D pictures)
○ http://www.youtube.com/watch?v=Y9HMn6bd-v8#t=50 (real-time map generation on iPhone)
● For overlays that must match exactly, still need some initial alignment.
○ Edge Based tracking using 3D Models
■ Uses extensible tracking, initialized with best
fit edge of model. (Metaio SDK, Sept, 2013)
○ Small tracker can still be used

19. Cameraless Tracking
GPS, compass, gryo,
accelerometer
Illuminated Tracking
CastAR’s head tracking
uses IR LEDs
Nokia City Lens

20. Depth Sensors
● Skips over many challenges with regular
camera tracking
○ Directly measures object depth
○ Can handle “featureless” textures (everything same color)
○ Still requires object recognition
○ Primarily used for body / hand tracking
● Examples
○ Kinect, Leap Motion, Laser range finder

21. How Kinect (ver 1) works
● Structured Lighting (Infrared)
video: http://www.youtube.com/watch?v=uq9SEJxZiUg

22. Kinect (ver 1) Drawbacks
● Affected by Sunlight
● Multiple kinects would conflict
● Minimum distance several feet - bad for
robotics and hand tracking (low resolution)
● Very cheap, though!

23. Time of Flight Sensor
● Uses speed of light and arrival time of reflected pulses
to calculate distance
● Extremely small times:
○ D = t * c / 2, 1cm → 66ps
○ 3 GHz cpu → 333ps
● Advantages: more compact (no separation between
sensor and emitter), simplier calculation, higher
resolution
● Kinect v2, Soft Kinetic sensor.

24. 3D Sensing Applications
● Augmented Reality
● Body tracking
○ general computer gestural control, more natural
○ gaming - Dance games
○ head tracking - CastAR, Virtual Reality
○ 3D design / printing

25. Google Project Tango
● Adding depth sensors to phones
● Incorporating mapping and tracking
technology
● Applications
○ visually impaired navigation
○ instant measurement of
home dimensions
○ store & shelf navigation
video: http://www.youtube.com/watch?v=Qe10ExwzCqk

26. Wearable Phones?
Many of the applications make
more sense if you don’t have to
hold a phone!
● Maintenance - hard to hold
iPad with wrench!
● Mapping

27. Wearable / Pervasive Computing
● Google Glass
○ Bad for AR?
■ Battery life
■ Camera can’t be on constantly
■ Small field of View, not in direct
line of sight
○ Can’t focus on glass and outside
world - looking on wiki mid conversation

29. Google Glass Field of View - Vignette
Greg Roberts GlassFAQ

30. Google Glass Pros
● We check our phones 110 times / day
● Better for contextual information
○ Incoming emails and texts
○ nearby places of interest
○ Instructions - following and creating (mfr DEMO)
● Voice recognition is great
● Capturing spontaneous or 1st person videos
● Looks cool, lightweight, viable wearable
● No tether

31. Head Mounted Display History
Steve Mann
Thad Starner - GaTech!
from 1993
Wearable Tech not new! Just
more compact and marketed!
Battery & CPU finally getting
small and cheap enough.

32. More head mounted options
● GlassUP
○ $300
○ small screen
○ tethered

33. ● Recon Jet
designed for Sporting
$600, shipping May?
● Meta Pro
○ Does what people think Google Glass does
○ built-in depth sensor, potential
Iron Man / Minority report int.
○ 40 degree Field of View
(vs 14 degree on Glass)
○ $3650, shipping Sept
○ tethered controller

34. CastAR & Spacial AR
● Projection on reflective mat
● Head tracking via LEDs
● Hologram effect
● form of Spatial AR
interaction
w/ projections

35. Oculus Rift / Crystal Cove
● Primarily for gaming, Virtual Reality
● Fully immersive 110 deg Field of View
● Head tracking via accel, gyro sensors,
markers on ver2
● Some have added cameras to achieve
Augmented Reality effect
○ Solves delay problems with see-thru displays
● Motion sickness problem - display must
react quickly to head movement.
● Requires fast frame rates to trick brain
Video: Oculus Rift with 2 Cameras
achieves Augmented Reality
http://www.youtube.com/watch?
v=Bc_TCLoH2CA

36. Technology Hurdles
● Latency: see-through AR must be faster.
○ Google glass small screen prevents motion sickness,
but lag will be more jarring in large screens
● Dimming screen
○ per-pixel dimming not viable yet, see-through text can
get washed out. (Video pass-thru helps)
● Better, Smaller, Faster (Battery, CPU, screen)
● Object & Gestural recognition algorithms

37. Societal Implications
● Always on camera
● How do we have a conversation with computer
distractions? Wearable manners?
● Engineering - Design in 3D with hands, more natural
gestural control
● Job Creation?
○ Reverse of robotic automation - use adept human dexterity
○ Enhance human capabilities via internet, AI or remote assistance.
○ Remote diagnostics, field service, DIY repair

38. Conclusion & Final Thoughts
● Consumer Computers sense and project in
3D space
● Technology more pervasive / always on via
wearable implementations
● Content is major bottleneck
● If useful, appearance won’t matter

39. Contact
● Scott Driscoll
○ Scott.Driscoll@sentrinsic.com
○ plus.google.com/+ScottDriscoll
○ blog: ImponderableThings.com
○ youtube: CuriousInventor
● Company Website: EquipCodes.com
● Software Tools
○ Vuforia, Unity, Metaio, Google App Engine