Spatial Programming for Industrial Robots through Task Demonstration

We present an intuitive system for the programming of industrial robots using markerless gesture recognition and mobile augmented reality in terms of programming by demonstration. The approach covers gesture-based task definition and adaption by human demonstration, as well as task evaluation through augmented reality. A 3D motion tracking system and a handheld device establish the basis for the presented spatial programming system. In this publication, we present a prototype toward the programming of an assembly sequence consisting of several pick-and-place tasks. A scene reconstruction provides pose estimation of known objects with the help of the 2D camera of the handheld. Therefore, the programmer is able to define the program through natural bare-hand manipulation of these objects with the help of direct visual feedback in the augmented reality application. The program can be adapted by gestures and transmitted subsequently to an arbitrary industrial robot controller using a unified interface. Finally, we discuss an application of the presented spatial programming approach toward robot-based welding tasks

Outdoor Augmented Reality: State of the Art and Issues

International audienceThe goal of an outdoor augmented reality system is to allow the human operator to move freely without restraint in its environment, to view and interact in real time with geo-referenced data via mobile wireless devices. This requires proposing new techniques for 3D localization, visualization and 3D interaction, adapted to working conditions in outdoor environment (brightness variation, features of displays used, etc.). This paper surveys recent advances in outdoor augmented reality. It resumes a large retrospective of the work carried out in this field, especially on methodological aspects (localization methods, generation of 3D models, visualization and interaction approaches), technological aspects (sensors, visualization devices and architecture software) and industrial aspects