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ひでよりいりぐら
5 years ago
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1 NAIST-IS-MT

2 ()

3 (Augmented Reality:AR) LED, NAIST-IS- MT , i

4 ,,,,, ii

5 User Localization Using Invisible Visual Markers and an Infrared Camera Yusuke Nakazato Abstract This paper describes a new localization method in indoor environments. Since computers have made remarkable progress in resent years, a wearable computer can be realized. In applications of wearable computers like a wearable augmented reality (AR) system, the exact position and orientation of a user are required for location-based information presentation. One of the methods estimates the user s position and orientation by recognizing the visual markers which are pasted up on the ceilings or walls. However, the method has problems concerning undesirable visual effects. In order to avoid the problems, this paper proposes a new localization method which is based on using an infrared camera and invisible visual markers consisting of translucent retro-reflectors. In the proposed method, to stably extract the regions of the markers from the captured images, the camera captures the reflection of infrared LEDs that are flashed on and off continuously. This paper describes the quantitative evaluation in computer simulation to decide the alignment of markers in real environments. This study then carries out the localization experiments using a prototype system in real environments in which the markers are installed based on the marker alignment decided based on the simulation. Master s Thesis, Department of Information Systems, Graduate School of Information Science, Nara Institute of Science and Technology, NAIST-IS-MT , March 10, iii

6 Keywords: Invisible Visual Marker, Localization, Retro-reflector, Infrared Camera, Wearable Computer, Augmented Reality iv

7 LED ARToolkit v

8 37 vi

9 1 MIThril QBIC IS-600 Mark AirLocation Hallaway HiBall Baratoff Naiamrk (N = 4) () LED LED (z=120[cm]) :16cm :26.5cm vii

10 viii

11 ix

12 1. 1, 2 [1, 2] [3, 4] (CG) (Augmented Reality:AR) [5, 6] [7, 8] GPS GPS LED 1 MIThril 2003 [1] 2 QBIC [2] 1

14 GPS [9, 10]GPS Weavy[11] Vacchetti [12] 3

15 3 IS-600 Mark2[InterSense] [13] InterSence IS-600 Mark2[13] 4 AirLocation[14] LAN LAN 4

16 4 AirLocation[] [14] LED LED IrDA IrDA ID [15] Hallaway 5 2 [16] 6 5

17 5 Hallaway [16] 6 [17] [17] [18] Welch HiBall[19] 7 6 LED [20, 21] Baratoff [22] [23] 8,9 6

18 7 HiBall [19] Baratoff ARToolKit[24] ARToolKit CG ID Naimark [25] 10 ID 8,9,10 7

19 8 Baratoff [22] (a) (b) 9 [23] 8

20 (b) Naimark (a) Naiamrk 10 Naiamrk [25] 2.3 GPS 8,9,10 [26, 27, 28] 9

21 LED 10

22 LED LED LED ID () 4 [24]

23 ( M P -X P [ V i c t o r ] ) R S C ( N V -U T [ N O V A C ] ) LED CG 13 [29] [30] 14 12

24 12 13 [29] 14 [30] 13

25 (a) (b) (c) () 15 15(a) 15(b) 15(c) N N N 2 4 ID 16 N = (= 4096) ID 14

26 m 16 (N = 4) () LED 47m 72 m m 17 LED 3.3 LED 17 LED LED LED RS-232C LED LED 18 15

27 18 LED LED 19 LED 16

28 3 20 LED 19 LED LED 3.4 ARToolkit ID 3 4 ARToolKit[24] 20 17

29 N N 2 ID

30 ARToolKit[24] 17 LED ( 92.6 ) cm 1cm N = 4 16cm 40cm 4cm 20cm 140cm 9 22 sin 100 z z 19

31 21 (yaw) % 90cm (x, y, z, pitch, roll, yaw) 24 x-y z pitch,roll,yaw 20

32 22 (z=120[cm]) 23 21

33 (a) (x) (d) (pitch) (b) (y) (e) (roll) (c) (z) (f) (yaw) 24 22

34 x,y,z 24 (f) yaw 1 yaw yaw (a) (e) (b) (d) x roll y pitch :16cm :26.5cm 25 pitch y roll x 25 pitch roll cm hcm h/120 23

35 25 :16cm :26.5cm 24

36 PC LED LED RS-232C LED 92.6 :542(H) 492 (V) NTSC 6 LED RS-232C LED LED PC: Inter Link MP-XP7310 [Victor]CPU PentiumM 1GHz 768 Mbytes LED RS-232C LED NV-UT200 [NOVAC] pixel 30fps USB NTSC pixel 30fps 25

37 L E D MP-X P [ V i c t o r ] N V -U T [ N O V A C ] 26 26

38 ( 0, 0 ) 3 0 [ c m ] 9 0 [ c m ] [ c m ] [ c m ] [ c m ] 6 0 [ c m ] [ c m ] [ c m ] [ c m ] [ c m ] y 5 2 [ c m ] [ c m ] x cm 1cm 28cm 2cm cm N = 4 27 x-y z (60, 20, 120) (60, 300, 120) ( cm) cm 20cm 27

39 (a) (b) 28 (a) (b) 29 28

40 1 x[cm] y[cm] z[cm] pitch[ ] roll[ ] yaw[ ] m cm 1cm 28cm 2cm 1cm N = 4 30 x-y z (50, 1800, 120) (50, 0, 120) ( cm) 31 31(a) 31(b) 31(c) 29

41 x [cm] y[cm] 30 30

42 (a) (b) (c) 31 31

43 32 2 x[cm] y[cm] z[cm] pitch[ ] roll[ ] yaw[ ] ID 31(c) 2 15fps

44 図 33 平行移動するカメラの位置推定誤差図 34 平行移動するカメラの姿勢推定誤差 33

45 120cm 15cm 30cm

46 5. 90cm ID 35

47 36

48 [1] R. DeVaul, M. Sung, J. Gips and A. Pentland: Mithril 2003: Applications and architecture, Proc. 7th IEEE Int. Symp. on Wearable Computers (ISWC 03), pp. 4 11, [2] O. Amft, M. Lauffer, S. Ossevoort, F. Macaluso, P. Lukowicz and G. Tröster: Design of the qbic wearable computing platform, Proc. 15th IEEE Int. Conf. on Application-specific Systems, Architectures and Processors (ASAP 2004), pp , [3],,, : I m here!,, Vol. 6, No. 3, pp , [4] M. Miyamae, T. Terada, M. Tsukamoto and S. Nishio: An event-driven wearable system for supporting motorbike racing teams, Proc. 8th IEEE Int. Symp. on Wearable Computers (ISWC 04), pp , [5] R. Azuma: A survey of augmented reality, Presence, Vol. 6, No. 4, pp , [6] M. Kanbara, T. Okuma, H. Takemura and N. Yokoya: A stereoscopic video see-through augmented reality system based on real-time vision-based registration, Proc. IEEE Int. Conf. on Virtual Reality 2000, pp , [7] R. Tenmoku, Y. Nakazato, A. Anabuki, M. Kanbara and N. Yokoya: Nara palace site navigator: Device-independent human navigation using a networked shared database, Proc.10th Int. Conf. on Virtual Systems and Multimedia (VSMM 2004), pp , [8] J. Newman, M. Wagner, M. Bauer, A. MacWilliams, T. Pintaric, D. Beyer, D. Pustka, F. Strasser, D. Schmalstieg and G. Klinker: Ubiquitous tracking 37

49 for augmented reality, Proc. 3rd IEEE/ACM Int. Symp. on Mixed and Augmented Reality (ISMAR 04), pp , [9] P. Daehne and J. Karigiannis: Archeoguide: System architectureof a mobile outdoor augmented reality system, Proc. 1st IEEE/ACM Int. Symp. on Mixed and Augmented Reality (ISMAR2002), pp , [10],, :,, Vol. 32, No. 6, pp , [11] M. Kourogi and T. Kurata: Personal positioning based on walking locomotion analysis with self-contained sensors and wearable camera, Proc. 2nd IEEE/ACM Int. Symp. on Mixed and Augmented Reality (ISMAR 03), pp , [12] L. Vacchetti, V. Lepetit and P. Fua: Combining edge and texture information for real-time accurate 3d camera tracking, Proc. 3rd IEEE/ACM Int. Symp. on Mixed and Augmented Reality (ISMAR 04), pp , [13] INTERSENSE IS-600 Mark2, [14] LAN AirLocation(TM), [15] R. Tenmoku, M. Kanbara and N. Yokoya: A wearable augmented reality system using positioning infrastructures and a pedometer, Proc. 7th IEEE Int. Symp. on Wearable Computers (ISWC 03), pp , [16] D. Hallaway, T. Höllerer and S. Feiner: Coarse, inexpensive, infrared tracking for wearable computing, Proc. 7th IEEE Int. Symp. on Wearable Computers (ISWC 03), pp , [17], :, 2004, No.A-16-7,

50 [18] M. Maeda, T. Ogawa, K. Kiyokawa and H. Takemura: Tracking of user position and orientation by stereo measurement of infrared markers and orientation sensing, Proc. 8th IEEE Int. Symp. on Wearable Computers (ISWC 04), pp , [19] G. Welch, G. Bishop, L. Vicci, S. Brumback, K. Keller and D. Colucci: High-performance wide-area optical tracking -the hiball tracking system, Presence: Teleoperators and Virtual Environments, Vol. 10, No. 1, pp. 1 21, [20] B. Thomas, B. Close, J. Donoghue, J. Squires, P. D. Bondi, M. Morris and W. Piekarski: Arquake: An outdoor/indoor augmented reality first person application, Proc. 4th IEEE Int. Symp. on Wearable Computers (ISWC2000), pp , [21] M. Kalkusch, T. Lidy, M. Lnapp, G. Reitmayr, H. Kaufmann and D. Schmalstieg: Structured visual markers for indoor pathfinding, Proc. 1st IEEE Int. Augmented Reality Toolkit Workshop (ART 02), [22] G. Baratoff, A. Neubeck and H. Regenbrecht: Interactive multi-marker calibration for augmented reality applications, Proc. 1st IEEE/ACM Int. Symp. on Mixed and Augmented Reality (ISMAR2002), pp , [23],,, :,, ITS , [24] H. Kato and H. Billinghurst: Marker tracking and hmd calibration for a video-based augmented reality conferencing system, Proc. 2nd IEEE/ACM Int. Workshop on Augmented Reality (IWAR 99), pp , [25] L. Naimark and E. Foxlin: Circular data matrix fiducial system and robust image processing for a wearable vision-inertial self-tracker, Proc. 1st 39

51 IEEE/ACM Int. Symp. on Mixed and Augmented Reality (ISMAR2002), pp , [26],, :,, IE , pp , [27],, : AR,, PRMU , pp. 7 12, [28] Y. Nakazato, M. Kanbara and N. Yokoya: Discreet markers for user localization, Proc. 8th IEEE Int. Symp. on Wearable Computers (ISWC 04), pp , [29] M. Inami, N. Kawakami, D. Sekiguchi, Y. Yanagida, T. Maeda and S. Tachi: Visuo-haptic display using head-mounted projector, Proc. IEEE Int. Conf. on Virtual Reality 2000, pp , [30] M. Inami, N. Kawakami, D. Sekiguchi, Y. Yanagida, T. Maeda and S. Tachi: Optical camouflage using retro-reflective projection technology, Proc. 2nd IEEE/ACM Int. Symp. on Mixed and Augmented Reality (ISMAR 03), pp ,

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ÅÇÈÉ ÂÃ ÂÃÄ Â ÉÂÄ ÉÂÄ Â!Â ÄÅÇÈÉ ÈÈ Â ÂÃ 2 1 ARCHEOGUIDE[14, 15] AR CG [16, 17] PDA ÂÃÄ ÅÇÈÉ 2 [18] CG 630-0192 8916-5 E-mail: {ryuhei-t, kanbara, yokoya}@is.naist.jp PDA Nara Palace Site Navigator Mobile Tour Guide System Using Multimedia Contents Ryuhei TENMOKU Masayuki KANBARA and Naokazu YOKOYA Graduate