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The system on the ground consists of a notebook computer, a wireless video receiver, a HMD and an angle sensor. A received omnidirectional image is captured by the PC and converted into a perspective im
age in real time(30[Hz]). Figure 2 shows the geometry of the omnidirectional camera called “HyperOmni Vision1)”. The projection from the point p(x; y) on the perspective plane to the point P(X; Y;Z) in space is given by
where b,c are the parameter of the hyperboloidal mirror and f is the focal point of the camera. By computing above geometric transformation between (x; y) and (X; Y;Z), a perspective image viewing an arbitrary direction from the focal point can be generated. Real-time image transformation is achieved by making lookup tables every 2[degree] for the horizontal head rotation.
Then the converted image is displayed on the HMD which the operator wears. The gyro sensor attached to the HMD is utilized to measure the head attitude of the operator. The displayed image on the HMD changes depending on the head attitude of the operator, and the operator can freely look around the surrounding views of the helicopter as if the operator is onboard. The head attitude is indicated using graphical indicators as shown in Figure 3(right). As a result, it is possible for the operator to control a helicopter with high immersion. 2.4 Experiment
In order to verify the feasibility of this system, we conduct an experiment to operate an unmanned helicopter around the building using the developed system. The photographs of the experiment is shown in Figure 4. The operator controlled the unmanned helicopter while watching the image displayed on the
HMD. We confirmed that it was possible to control the helicopter in the situation that the operator could not see it directly. This is the advantage of the developed system compared with the conventional remote operating method. 3. Navigation System for Wheelchair 3.1 Introduction
We developed a navigation system using AR. An user sits on a small electric wheelchair and wears a HMD to watch a navigation information. To superimpose virtual objects on the real scene, it is necessary to measure the user’s head position, orientation and the user’s position, orientation accutately. In conventional AR systems, gyro Sensors or magnetometric sensor is used to measure user’s head orientation, and landmarks such as RFID or GPS is used to measure the user’s position. However gyro sensors have drift error and systems using magnetometric sensor cannot be put near a metallic material. In user’s localization, using landmarks, it is difficult to install and modify them, while the method using GPS have a problem in accuracy at this time. In the proposed system, the head pose of the user is measured using stereo camera pair, and the position of the user is detected using a laser range finder both with high accuracy. Using developed system, experiments were conducted and the effectiveness of the navigation system was confirmed. Page 1,2,3,4
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