Robotic Cameraman for Augmented Reality based Broadcast and Demonstration

In recent years, a number of large enterprises have gradually begun to use vari-ous Augmented Reality technologies to prominently improve the audiences’ view oftheir products. Among them, the creation of an immersive virtual interactive scenethrough the projection has received extensive attention, and this technique refers toprojection SAR, which is short for projection spatial augmented reality. However,as the existing projection-SAR systems have immobility and limited working range,they have a huge difficulty to be accepted and used in human daily life. Therefore,this thesis research has proposed a technically feasible optimization scheme so thatit can be practically applied to AR broadcasting and demonstrations. Based on three main techniques required by state-of-art projection SAR applica-tions, this thesis has created a novel mobile projection SAR cameraman for ARbroadcasting and demonstration. Firstly, by combining the CNN scene parsingmodel and multiple contour extractors, the proposed contour extraction pipelinecan always detect the optimal contour information in non-HD or blurred images.This algorithm reduces the dependency on high quality visual sensors and solves theproblems of low contour extraction accuracy in motion blurred images. Secondly, aplane-based visual mapping algorithm is introduced to solve the difficulties of visualmapping in these low-texture scenarios. Finally, a complete process of designing theprojection SAR cameraman robot is introduced. This part has solved three mainproblems in mobile projection-SAR applications: (i) a new method for marking con-tour on projection model is proposed to replace the model rendering process. Bycombining contour features and geometric features, users can identify objects oncolourless model easily. (ii) a camera initial pose estimation method is developedbased on visual tracking algorithms, which can register the start pose of robot to thewhole scene in Unity3D. (iii) a novel data transmission approach is introduced to establishes a link between external robot and the robot in Unity3D simulation work-space. This makes the robotic cameraman can simulate its trajectory in Unity3D simulation work-space and project correct virtual content. Our proposed mobile projection SAR system has made outstanding contributionsto the academic value and practicality of the existing projection SAR technique. Itfirstly solves the problem of limited working range. When the system is running ina large indoor scene, it can follow the user and project dynamic interactive virtualcontent automatically instead of increasing the number of visual sensors. Then,it creates a more immersive experience for audience since it supports the user hasmore body gestures and richer virtual-real interactive plays. Lastly, a mobile systemdoes not require up-front frameworks and cheaper and has provided the public aninnovative choice for indoor broadcasting and exhibitions

Projector-Based Augmentation

Projector-based augmentation approaches hold the potential of combining the advantages of well-establishes spatial virtual reality and spatial augmented reality. Immersive, semi-immersive and augmented visualizations can be realized in everyday environments – without the need for special projection screens and dedicated display configurations. Limitations of mobile devices, such as low resolution and small field of view, focus constrains, and ergonomic issues can be overcome in many cases by the utilization of projection technology. Thus, applications that do not require mobility can benefit from efficient spatial augmentations. Examples range from edutainment in museums (such as storytelling projections onto natural stone walls in historical buildings) to architectural visualizations (such as augmentations of complex illumination simulations or modified surface materials in real building structures). This chapter describes projector-camera methods and multi-projector techniques that aim at correcting geometric aberrations, compensating local and global radiometric effects, and improving focus properties of images projected onto everyday surfaces

Imaging methods for understanding and improving visual training in the geosciences

Experience in the field is a critical educational component of every student studying geology. However, it is typically difficult to ensure that every student gets the necessary experience because of monetary and scheduling limitations. Thus, we proposed to create a virtual field trip based off of an existing 10-day field trip to California taken as part of an undergraduate geology course at the University of Rochester. To assess the effectiveness of this approach, we also proposed to analyze the learning and observation processes of both students and experts during the real and virtual field trips. At sites intended for inclusion in the virtual field trip, we captured gigapixel resolution panoramas by taking hundreds of images using custom built robotic imaging systems. We gathered data to analyze the learning process by fitting each geology student and expert with a portable eye- tracking system that records a video of their eye movements and a video of the scene they are observing. An important component of analyzing the eye-tracking data requires mapping the gaze of each observer into a common reference frame. We have made progress towards developing a software tool that helps automate this procedure by using image feature tracking and registration methods to map the scene video frames from each eye-tracker onto a reference panorama for each site. For the purpose of creating a virtual field trip, we have a large scale semi-immersive display system that consists of four tiled projectors, which have been colorimetrically and photometrically calibrated, and a curved widescreen display surface. We use this system to present the previously captured panoramas, which simulates the experience of visiting the sites in person. In terms of broader geology education and outreach, we have created an interactive website that uses Google Earth as the interface for visually exploring the panoramas captured for each site

THE UNIVERSAL MEDIA BOOK

We explore the integration of projected imagery with a physical book that acts as a tangible interface to multimedia data. Using a camera and projector pair, a tracking framework is presented wherein the 3D position of planar pages are monitored as they are turned back and forth by a user, and data is correctly warped and projected onto each page at interactive rates to provide the user with an intuitive mixed-reality experience. The book pages are blank, so traditional camera-based approaches to tracking physical features on the display surface do not apply. Instead, in each frame, feature points are independently extracted from the camera and projector images, and matched to recover the geometry of the pages in motion. The book can be loaded with multimedia content, including images and videos. In addition, volumetric datasets can be explored by removing a page from the book and using it as a tool to navigate through a virtual 3D volume

Capturing 3D textured inner pipe surfaces for sewer inspection

Inspection robots equipped with TV camera technology are commonly used to detect defects in sewer systems. Currently, these defects are predominantly identified by human assessors, a process that is not only time-consuming and costly but also susceptible to errors. Furthermore, existing systems primarily offer only information from 2D imaging for damage assessment, limiting the accurate identification of certain types of damage due to the absence of 3D information. Thus, the necessary solid quantification and characterisation of damage, which is needed to evaluate remediation measures and the associated costs, is limited from the sensory side. In this paper, we introduce an innovative system designed for acquiring multimodal image data using a camera measuring head capable of capturing both color and 3D images with high accuracy and temporal availability based on the single-shot principle. This sensor head, affixed to a carriage, continuously captures the sewer's inner wall during transit. The collected data serves as the basis for an AI-based automatic analysis of pipe damages as part of the further assessment and monitoring of sewers. Moreover, this paper is focused on the fundamental considerations about the design of the multimodal measuring head and elaborates on some application-specific implementation details. These include data pre-processing, 3D reconstruction, registration of texture and depth images, as well as 2D-3D registration and 3D image fusion