guide_CR.dvi

Transcription

1 AR *1 *2 *1 *3 *1 *1 AR Guide System Using Mobile Projector in Indoor Environment Akira Nagamatsu *1*2, Yuusuke Nakazato *1*3, Masayuki Kanbara *1, and Naokazu Yokoya *1 Abstract This pager proposes a projection-based AR guide system which guides users using a mobile projector in indoor environment. The projection-based AR guide system projects guidance of exhibits onto walls or floors in the real world. In order to realize this system, it is necessary to measure a position and an orientation of the projector precisely in a wide area. In the proposed guide system, the projector's position is estimated from images capturing invisible markers which are set up on ceilings with an infrared camera attached to the projector. In addition, to indicate the guide information intuitively for users, the proposed system displays information at three dimensional position using two projectors and polarized glasses. Keywords : Mobile ProjectorAugmented Reality, Wearable Computer, Navigation Stereoscopic Image 1 [1, 2] (AR)[3] AR [4, 5,6] (HMDHead Mounted Display) [7, 8]HMD AR PDA(Personal Digital Assistant) AR [9, 10] *1 *2 *3 *1 Graduate School of Information Science, Nara Institute of Science and Technology *2 Presently with Panasonic Corporation *3 Presently with Canon Inc AR [11, 12] 3 AR AR [13]

2 Vol.14, No.3, (a) 3 1(b) 3 3 [14] [15, 16] 2 HMD HMD AR AR 2 モバイルプロジェクタ 案内情報 展示物 (a) (b) Fig. 1 Guide information on projection plane and in 3-D space. 2 Fig. 2 Environment for the usage of guide system LED 4 ( 9mm0.5 ) (Type1) 2 (Type2) 3 Type

3 : AR ボタン用マウス Type1 Fig. 3 赤外線 LED 付き赤外線カメラ ( 自作 ) 重量 :50g LED プロジェクタ LVP-PK20 ( 三菱電機 ) 重量 :850g( バッテリー含 ) 計算機 ThinkPad X60, X61(Lenovo) CPU:Core2Duo 2GHz メモリ :2GB 重量 :1.4kg 偏光メガネ フィルタ Type2 3 Hardware configuration of guide system. ffl 5 ffl (a) () (b) () 4 [13] Fig. 4 Invisible marker wallpaper on a ceiling (1) (2) (1) (2) ffl 7 ffl (Type2 ) 3 8

4 Vol.14, No.3, 2009 展示案内情報 ポインタ 展示案内情報 エレクテイオン パルテノン神殿 プロジェクタ 音楽堂 ポインタを重ねた状態 情報を切り替えた状態 展示物 5 Fig. 5 Interaction function of guidance for an exhibition. 移動 移動 展示物 (1) 展示物 (1) (a) 展示物 (1) の展示案内情報 展示物 (2) 展示 (2) の内容を反映した展示案内情報 展示案内情報 展示案内情報 6 Fig. 6 Presentation function of guidance for exhibitions corresponding to navigation histories. 展示案内情報 展示物 3 ffl (b) 7 Fig. 7 Presentation function that changes guidance according to the distance from an exhibit. ffl ffl (Type1) 展示物 立体情報 ffl 3 ffl 8 (Type2) Fig. 8 Presentation function of stereoscopic information. ffl ()

5 : AR 9 3 M, 3 (r 1, r 2, r 3 ) (t 1 ;t 2 ;t 3 ) T, M. 0 1 c 2 c 3 + s 1 s 2 s 3 c 1 s 3 s 2 c 3 + s 1 c 2 s 3 t 1 c M = 2 s 3 + s 1 s 2 c 3 c 1 c 3 s 2 s 3 + s 1 c 2 c 3 t 2 B c 1 s 2 s 1 c 1 c 2 t 3 A s 1 =sinr 1 ; s 2 = sin r 2 ; s 3 = sin r 3 c 1 =cosr 1 ; c 2 =cosr 2 ; c 3 =cosr 3 (2), 9 3 (X; Y; Z) T 3 (X 0 ;Y 0 ;Z 0 ) T X 0 X Y 0 Y B C = M B C Z 0 Z A 1 1 (c x ;c y ) (ffi x ;ffi y ) F ^x =(^x; ^y). (^x; ^y) = ffi x X 0 Z 0 F + c x ; ffi u Y 0 Z 0 F + c y (4) 2.4 (Type2) 3 投影像 プロジェクタ x ウィンドウ座標系 x y X Y Z 投影像 X 世界座標系 変換行列 M Y プロジェクタ座標系 Z 9 Fig. 9 Coodinate systems for guide system and projection of guidance

6 Vol.14, No.3, 2009 投影像 プロジェクタ 10 Fig. 10 透視変換 投影面 立体情報 投影変換 ユーザの視点 Geometric transformation of stereoscopic images. 2.5 (Type2) 3 3 AR 11 O A B t m 3 d mo y AB O 1m 6.5cm 12 t 0.2m =01530O A B (-) 3 d =0 d m AB m 35 O O: 案内情報の提示位置 A: プロジェクタを装着するユーザの位置 B: その他のユーザの位置 t : 投影面と提示位置の距離 d : 案内情報の 3 次元位置の誤差 t d β α A 投影面 B 右目の視点位置左目の視点位置 11 (Type2) Fig. 11 Environment for the usage of presentation function of stereoscopic information(type2). 13 0, 30 t 3 d 0.1m t 0.25m 0.2m 0.6m d 3 (Type1) (Type2) 3.1 ( 2.8m) 3 3(a) (Lenovo ThinkPad X61 CPU:Core2Duo 2GHz :2GB) LED () ( LVP-PK20) 3(b) LED () 2 ( LVP-PK20) (Lenovo ThinkPad X60 CPU:Core2Duo 2GHz :2GB)

7 : AR w e α=0[ ] α=15[ ] α=30[ ] 入口出口 25m (1) 縄文時代の日本 (3) 古代ギリシャ文明 ~ 土偶 土器 ~ アクロポリス 固定型提示範囲 2m (2) (2) 縄文時代の日本 ~ ~ 竪穴式住居 (5) 古代エジプト文明 ~ ピラミッド (4) 古代ギリシャ文明 不可視マーカの ~ オリンピア 設置範囲 展示案内のテーマ : (1),(2) 紀元前の日本の文化 (3),(4) 古代ギリシャ文明 (5) 古 代エジプト文明 uš š 12 O AB 3 Fig. 12 Relation between angles formed by positions A and positions B for O and displacement of stereoscopic information. 経路案内のコース : 日本の文化案内コース 入口 (1) (2) 出口世界の文明案内コース 入口 (3) (4) (5) (1) (2) 出口 (a) シルバースクリーン 0.1m 0.15m 案内情報 1 0.2m 案内情報 2 展示物案内情報 3 w e ˆ e { 13 3 Fig. 13 Relation between position of a projection plane and displacement of stereoscopic information. 14(a) (1)(5) 14(b) 0.2m 1m PQ P Q m P 30 Q (b) Fig Experimental environment. 0.1m0.15m0.2m 3.2 (Type1) A BE 17

8 Vol.14, No.3, 2009 (1) 縄文時代の日本 ~ 土偶 土器 (3) 古代ギリシャ文明 ~ アクロポリス A B C D E F1 F2 G (2) 縄文時代の日本 (5) 古代エジプト文明 ~ 竪穴式住居 ~ ピラミッド (4) 古代ギリシャ文明 ~ オリンピア A~G 地点 案内情報の投影をおこなった場所矢印 プロジェクタの投影方向 15 Fig. 15 Direction of projection at each point. (a) B (b) E 17 BE Fig. 17 Appearance of presenting the navigation route to exhibitions at point B and E. (a) (b) 16 A Fig. 16 Appearance of course selection at point A. C G 18(a)(b) ffl C 19 (1) 19(a) 19(b) ffl D (1) (a) C 18 Fig. 18 (b) G CG Appearance of guidance for exhibition at points C and G (a) (5) (1) (5) 20(b) ffl F1F2 (3) PQ PQ 23(b)(c) 24(b)(c) 3 23(d)(e) 24(d)(e)

9 : AR (a) 19 Fig. 19 (b) C Appearance of interaction for exhibitions at point C. Fig F1 Appearance of presentation of guidance for an exhibition at point F1. 22 F2 Fig. 22 Appearance of presentation of guidance for an exhibition at point F2. (a) (1) (b) 20 D Fig. 20 Appearance of presentation of guidance for exhibitions corresponding to navigation history at point D. AR 3 AR 3 AR AR (Type1) (Type2) 2 AR

10 Vol.14, No.3, 2009 Screens with Human-Scale Haptic and Locomotion Interfaces," Proc. Int Conf. on Cyberworlds, pp , [16] Y. KitamuraT. NakayamaT. Nakashima and S. Yamamoto: The IllusionHole with Polarization Filters," Proc. ACM Symp. on Virtual Reality Software and Technology, pp , ( ) [1] S. Mann Wearable Computing: A First Step Toward Personal Imaging," IEEE Computer, Vol. 30, No. 2, pp , [2] R. D. Vaul, M. Sung, J. Gips and A. S. Pentland MIThril 2003: Applications and Architecture," Proc. Int. Symp. on Wearable Computers, pp. 4-11, [3] R. Azuma: A Survey of Augmented Reality," Presence, Vol. 6, No. 4, pp , [4] R. Azuma and C. Furmanski: Evaluating Label Placement for Augmented Reality View Management," Proc. 2nd Int. Symp. on Mixed and Augmented Reality, pp , [5] R. Tenmoku, M. Kanbara, and N. Yokoya: Annotating user-viewed objects for wearable AR systems", Proc. IEEE and ACM Int. Symp. on Mixed Augmented Realitypp [6] : " MVE Vol. 107pp [7] S. Long, K. Kooper, G. D. Abowd and C. G. Atkeson Rapid Prototyping of Mobile Context-Aware Applications: The Cyberguide Case Study," Proc. 2nd Int. Conf. On Mobile Computing and Networking, pp , [8] R. Malaka and A. Zipf Deep Map Challenging IT Research in the Framework ofatourist Information System," Proc. 7th Int. Congress on Tourism and Communications, pp , [9] R. Oppermann and M. Specht Adaptive Mobile Museum Guide for Information and Learning on Demand," Proc. 8th Int. Conf. Human Computer Interaction, pp , [10] K. Cheverst, N. Davies, K. Mitchell, A. Friday and C. Efstatiou Diminishing Head-Mounted display for Shared Mixed Reality," Proc. SIGCHI Conf. on Human Factors in Computering Systems, pp , [11] : " 2003CVIM140pp [12] O. Bimber, R. Raskar: Spatial Augmented Reality"A KPeters2005. [13] Y. Nakazato, M. Kanbara, and N. Yokoya : Localization System for Large Indoor Environments Using Invisible Markers," Proc. ACM Symp. on Virtual Reality Software and Technology, pp , [14] S. UchiyamaK. TakemotoK. SatohH. Yamamoto and H. Tamura: MR Platform: A Basic Body on Which Mixed Reality Applications Are Built," Proc. 1st Int. Symp. on Mixed and Augmented Reality, pp , [15] N. Hashimoto, S. Jeong, Y. Takeyama, M. Sato: Immersive Multi-Projector Display on Hybrid () IEEE 2002 ( )2002 FIT2005, IEEE , IEEEACM SIGGRAPH

11 : AR (a) (b) P (c) P (d) Q (e) Q 23 P Fig. 23 Presentation of stereoscopic information for exhibition at point P. (a) (b) Q (c) Q (d) P (e) P 24 Q Fig. 24 Presentation of stereoscopic information for exhibition at point Q.