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3.6 Movement of Virtual Objects
In this system, virtual objects are created using OpenGL. To superimpose the virtual objects on the real scene, it is necessary to move the virtual camera in virtual space according as the head motion of the user. Figure 9 shows coordination systems of the head of the user and the wheelchair. Camera position T is calculated following equation:
T = Tw + Tw!h + Th
where Tw and Th are the measured position of the wheelchair and the head of the user, and Tw!h is a
vector from an origin of the wheelchair to an origin of the stereo camera. The orientation of the virtual camera is determined by the head orientation of the user and the wheelchair. The head orientation is calculated by the following rotating matrix Rh:
3.7 Experiment
To demonstrate the feasibility of the proposed method, we performed a practical experiment to navigate the user on the wheelchair. The experiment was conducted at ground-floor of the Graduate School of Information Science in NAIST. Figure 10 shows the navigation route and the allocation of annotation objects. Virtual cones are placed at all corners of the route. Text signs such as “Entrance”, “Reception”, “Office Room”, “Toilet”, “Bulletin Board”, “Elevator”, “Vending Machine”, “Stairs”, and “Smoking Space” are put in position. Figure 11 shows annotation objects which is displayed on the HMD and the head of the user when the user was controlling the wheelchair from C to D. In this figure, a directional arrow, a cone and a string ”Bulletin Board” are displayed. The cone is placed at a corner D and the directional arrow points to the corner.
When the user controlled the wheelchair following the system navigation, the wheelchair position which measured from the system of laser range finder is plotted in the Figure 12. This experimental result shows that this system can navigate the wheelchair user accurately. 4. Conclusion In this paper, we introduced two robotic applications which was developed in our laboratory using AR technology. In both systems, we conducted experiments and verified their feasibility. Page 1,2,3, 4
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