ubitrack - ubiquitous tracking for augmented reality joe newman for more information email:...

Ubitrack - Ubiquitous Tracking for

Augmented RealityJoe NewmanJoe Newman

For more information email: [email protected]

Joseph Newman June 9th -Studierstube Day 4, Graz 2004

Introduction

• Ubiquitous ComputingUbiquitous Computing• Augmented RealityAugmented Reality• SensorsSensors• ApplicationsApplications• Ubiquitous TrackingUbiquitous Tracking• SimulationSimulation


Ubiquitous Computing

• Phase in use & development of computer Phase in use & development of computer systemssystems• Permeate environmentPermeate environment• Embedded in most artifactsEmbedded in most artifacts• ““calm” technologycalm” technology

• Appropriate feedback at periphery of Appropriate feedback at periphery of consciousnessconsciousness

• Until need for user’s focus to be drawnUntil need for user’s focus to be drawn• Augmented Reality (AR) is the natural interface Augmented Reality (AR) is the natural interface

to Ubicomp environmentto Ubicomp environment


Augmented Reality (AR)

• Augmentation of Augmentation of human perceptionhuman perception• Visual, auditory, Visual, auditory,

tactual, olfactory, tactual, olfactory, gustatory gustatory

• Rich and meaningful Rich and meaningful AR experienceAR experience• Wearable computingWearable computing

• Display technologiesDisplay technologies• Tracking & graphicsTracking & graphics


AR Sensors

• High update rateHigh update rate• High accuracyHigh accuracy• Small working volumeSmall working volume• Mostly stationaryMostly stationary• Expensive & scarceExpensive & scarce

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Ubicomp sensors

• Low update rateLow update rate• Low accuracyLow accuracy• Large working volumeLarge working volume• MobileMobile• Cheap & numerousCheap & numerous


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AR Applications







Ubiquitous Tracking

• What could we do with perfect tracking?What could we do with perfect tracking?• Integrating different trackersIntegrating different trackers• Model spatial relationship graphs that map to Model spatial relationship graphs that map to

networks of heterogeneous sensorsnetworks of heterogeneous sensors• Extensible framework accommodates arbitraryExtensible framework accommodates arbitrary

• sensors, filtering schemes, optimisation criteriasensors, filtering schemes, optimisation criteria• Query mechanismQuery mechanism

• Satisfies client needs Satisfies client needs butbut• Negotiates resourcesNegotiates resources


AsdfAsdf

A

sdf

World Model


AsdfAsdfAsdfAsdfAsdfAsdfA

S

df

Measured Relationships


Inferred Relationships


Optical Shared Tracking

Marker C need only be visible to a single Marker C need only be visible to a single cameracamera


Simulation Environment

• Resource constraintsResource constraints• People, trackersPeople, trackers

• Experiment with scarce, expensive and Experiment with scarce, expensive and even non-existent equipmenteven non-existent equipment

• Design, develop, deploy and extend Design, develop, deploy and extend Ubitrack environmentsUbitrack environments• Requirements analysisRequirements analysis

• Prototyping, toolsPrototyping, tools


GUI


Simulation


Other tools

MATLABMATLAB

SimulinkSimulink

RTWRTW

MapleMaple


Future Work

• Expand scope of simulatorExpand scope of simulator• DistributionDistribution• PlatformsPlatforms• Tools (simulink, maple, etc…)Tools (simulink, maple, etc…)

• Develop maths to handle newDevelop maths to handle new• sensorssensors

• Accelerometers, RFID tags…Accelerometers, RFID tags…• filtersfilters

• Generalised kalman filters, Bayesian nets, Generalised kalman filters, Bayesian nets, Condensation FiltersCondensation Filters


Conclusion• Ubicomp and AR need UbitrackUbicomp and AR need Ubitrack• Theoretical frameworkTheoretical framework

• (Spatial) Relations modelled as graphs(Spatial) Relations modelled as graphs• Simulation important componentSimulation important component

• Extension to arbitrary sensorsExtension to arbitrary sensors• CollaborationCollaboration

• Develop the mathematicsDevelop the mathematics• Improve and introduce Computer Vision Improve and introduce Computer Vision

trackerstrackers• Security/PrivacySecurity/Privacy• Unresolved middleware issuesUnresolved middleware issues


Questions?