pdf 0.74M - 中央大学 理工学部 経営システム工学科
Contents
1. 1 2 000000 Virtual Operational Panel 1 Interractive Image Panel 14 Interactive Hand Pointer 21 12 0000000000000 00 00 0 00 0 E D B0 B LU Adaptive Annotation Function AAF 0 0 0 0000000 OOOOOOPARTNEROOOOOOOOOOOOOOOOOOOOgOOgOOOOOAOO ARODOOOOOAOOOOOOOOOOOOOOOOOOO 00000000000000 OOODOOOOODOODUODOODODODOODUODODODUODODOODOOO 1 3 000000 OOOODOOODOODOODOODOADODOADODADOOODOADADODOODOODO 0 00 00000000000000 OOOODDODOODODDOODOADADODOOOODODOOAADDODOODOAODOO 0000000000000000000 00000 0000000000000000000 00000000000 PARTNTEROD 400000000000000 0 Adaptive An notation Function DO ODOODODOODODOODDODDODOODOODOODO Q0000000000000000000000000 0 0000000000000000000000 0000 VOPL 000 02. 1 0 L Q00000000000000000000000000000C00000000000 1 00 0 CIR US30MT 1 191 UU 000 000000 Euslisp Xwindow 00 00 00 00 000 Sun Uita OO D 000 00 TO Polaroid COLORVTEV Light O O O 800 x 600 pixels 000 970 x 720mm I 00 Q0000000000 500030 0 0 0 0000 0000 000000000000 00000000 33msecQ O00 5000 0 000000000000000R G B000000000000
3. 0000000000000 O 41900 24 3 4 16 OHP model 25 4 17 A scene of 3D measurement using the random dot stereo O 4 18 scene of 3D measurement using light striped rangefinder The principal axis is superimposed on the image 20 i 4 19 OHP simulation model is matched by range finder data 4 3 2 0000000000 43 10 43 00 0000000000 0000000000 GO 4 200 Guide Operation 1 4 20 Guide Operation 1 diagram Q000000 0 0 00 00 1 OODOOOOLDUOHPOOOOUAOOOUI 27 4 21 An infrared image for detecting the human hand The thinning results and the object model are superimposed 4 22 Ranging fingers 2 00000000000 3 0000000000000000000000000000 00000 4000000000000 00000U00O 00000000000 00000000000000000000000000 5 000000000000 4210000000000000 000 OT O TOTO TO TOUT TOOOCODOO 9
4. L3 L3 L3 L3 o 4 8 Camera image of using light striped range finder 18 Hand Arm Movement Gestures Unintentional Movements Manipulative Communicative N Pan Mimetic Delctic Referential Modalizing 4 9 A taxonomy of hand gestures 9 10 for HCI Meaningful gestures are differentiated from unintentional movements 4 1 2 H h n n 0000000000000000000000000000000 000 00 0 0 3 0000000000000000000 320000000000000000 000 OOO Quek 0000 490000000000 oO 0000000000000 Unintentional Movements O O O Gesture O O 0 D Manipulative 0 0 Communicative 1 00 111 D B B 0 0 D B B B E D U U DelticOOOOOOOOOOOOOOOOOO AU 0 00 ReferenctialQ OO 0 Modalizimg 000000000000000 Symbols C 000 0 0000000000000000 000 020 0 0 0 0 0 0 000 0000 0000 0 0 0 Referential 00 00 000 0 000 UO 0000 0 0 0 00 000 LI U 000000000000 0 00 0 0 0 00 0 0000 O AV dd GU VG EE EL Pad EI OOOH Q0000000000000000Manipulative OO HMMODODODODOOODOOOO 101
5. 4 OOOODOODOUDODODDODDODOOAODODOADOODOOOODO 000000000000 um 12 O 4 1 State transition diagram of guiding operations and adaptive annotations GO guide operation Ax annotation Cy check of status Sx status 0 00000000000000 7 U 4 0 0 00000 0000000000000000 OOOOOOOOOOOOOOOOOOOO FemeOD 50000 TO O TO TUTTO UD Q000000000000000 TOT TOTO ooo KARMAT Od 000 000000000000 4100000000000 00000000000 1000030 70000000000 00000000000 ARU DUDO Eseo d 0000 0000000000000 A Ld gt Jo L3 L3 L3 4 1 1 000000
6. 3 1 2 Interactive Image Panel 00000000000 04 000000000000000000000 3 30 2 OU 9 ULU 4 0 000000000000000000 OOODOODODOODOOODOADOADODAODODOADOODOODD OOOODOODOODDOADOODODDAODOOODODODOODOADOODD 0000000000 3 1 3 Interactive Hand Pointer 000 VOPU 2000DOODOOUOOODOADOADODAOUOADOOOOI IHP21 0 00 00000030000000000000002000000000000 9 3 3 Interactive Image Panel 3 4 Interactive Hand Pointer 10 1 DL 1 0 HPOOODDODO O20000DOODODOODODOODOOODOADODOAOADOADODOAODODODOODO OOOODOODODOODOAUDODOODOAODOADODODODAODODODDOODO DUDU 3400 11 4 Adaptive Annotation Function OO00 HPH 400000000 Adaptive Annotation Function AAF 0000000 41 AAFHHH
7. 0 gl 0 0 0 00 0 NOOO e OU OU OU OU OU OU L3 r3 BL L3 0 4 5 Projection of principal axis to the objects 2 0000000000000 00000000 O TTT UUDU L 0000000000000 O O TTT TUTT TTT OOOUULO 23 200 000000000000000000000000000000000000 TO TUTO TOT TO L OOOODOODODOODOADOODOODOADOADOODODOODODLD 000000 0000000 O 4600 OU 16 4 6 Camera image of using light striped rangefinder 4 7 The template images of light striped rangefinder Q000000000000000000000000000000020 00 200000000000000000 00000000000 000 O 4700 40 0000000000 OOOO D D D D L 000 c p
8. AUODOOU m 1 0 00000 m Az A 12 OOOO m m m m li 00000 w 000000000 5 A 13 Mg 1 000000000000000000000000000u mi ms v m m 0000 000 00000 00000 mOODOODAOOODOODODAO 0000000 uo vo 0 1 200 000 00000 0 0 0 2506 000 0 0010 000 000000 A 0 Ties Vo 0 0 1 A 14 Fku fks 42 10 4120000000 x000 MOOOOOOOOOOOOO m AP A A 15 4 0 camera calibration matrix 00 0000000 41400 000000000000000 00 0 0 intrinsic parameters matrix 0000000000 ADUOUU fo kal Ka 65 0 00 rtu ka JU upper triangular matrix 0000000000 A Q S Wo 0 a Vo A 16 0 0 1 0 0 fk a fk s AOOOOOOOOOOOOOO 00000000000000 AA 000000000000 Q000000000000000000000000000 4nnunuananan DU 1 0 world coordinates 0 0
9. 1 00000000400 Q00000000000000000000 VOPO UPO 1 L 57 QUA 0 00000000 Q0000 00000000 UL 000 0 OTTO TG AA OO OOOOOOODOOADODADODOADOODADODADODODOOODOOOOO 000000000 A0000000000000000000000000000000 000000000 0 optical center 0 0000000000000000 0 0 0 pinhole camera 00000000 A l projection using a lens 38 A 1 1 DODO 00 00000000000000 00000 QA2000000000000000000000000000000000000 0 0000002000090000000020000 Q00000000000000000000000000000OOL camera stem 0 OOO 000000000 X x Y 2 0 20000000 000000 vy DOOOOOA2 000000000000000000 0 0000 20000000 OOOODDOODOODOOODOODOADODOODOODOOODOO OU se Co E EZ 25 D OU coor ON OO Da L1
10. 1 00 9001000900 0 00000000000000000 0 0 0 0000 000000000 1 OOOODOODODOUDOOODOOODDDOODOODOODDOOLD 2 OOODOODDOODOADDOODOOODOAODOOADODOODO 3 DOODDOOODODOOODODUOODODAOAADOAAADOOODUOOODDO 00000000000000 Q0000000000 0 0 000000 OOOODODOOOUOODODODDOODOODUOODODOLD 5 1 QUUUO OOOODOODOOUDOADOODOADOADOADDODODODODOODOODO OOOODOODODOODOAUDOODOODOOODODODODOAODODODDOODO OOOODOODOODDOODDOODUOOADODOADODOADOADODODODOODOODO 0000000000000000 0000 0 0 0 0 00 00 00 0 000000000 1 1
11. 00 OTTO O TOT TO 90 420000000000 O TO O 1 0 191 0 42300 0000000000 GO 4240 28 4 23 Adaptive annotation by monitoring the user s action Guide Operation 2 4 24 Guide Operation 2 diagram 29 4 25 The message Unfold the main body is projected 0000000000000000000000000 000 1 00000000000 0 Unfold the main body A2 D 000000 4250 2 000000000000000000000000000000 CO 0 4260 3 000000000000000000000000000000000 428000 OOOOOOOOO Lift up more A Q0 00000 4270 4 0000000000000 5 000 0000000 00 D 428 8 0 031 D 3 1 1 00000000 4280 OOODOODOODOODOUDOUODODOODOODOAOODOODODO OOOODOODOODDOAUOOUOODOODOOODDOODODOODODODDOODO 0000000 0000000000 G 4 290 Q000000000000000000000000 43200000000000 00 Slide up the head part QOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOGO 1 0000000000 8 D Slide up the head part 000000 43000 30 4 26 A striped light is projected to check the height of the main body 4 27 The message Lift up more is projected when the height of the main bod
12. AR Head Mounted Display HMD O 0 HMD OOOODODODOODODOODODDODOADODOAODODDADODDOOODVR AROOOOOOOO 2 100 0000000000 AR0000000000000000000000000000 CTOOOO 0000000000 000 0 0 0000 see through Head Mounted Display 000000 0000000000000000000000000000 KARMA S D C C C CU CU LU 00000000000000000000 0 00 see through Head Mounted Display HH OOOODOODOLOHMDODOOODO 0 0000000000000000000 am 2 1 AR system using Head Mounted Display AR
13. AAFOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 1 TO 001 1 1 00000000000 24000000000000000000000000000 126 OT TO L 13 4 2 The relationship between the number of dots and diameters OOOODODOODOOODOODODOOODOODODOADDOODOOODOOOODO OOOODODOODOUDODOODOOODDOODOODODOODOOODOADOODDO OOOODDOODOODOADODOODOOODODDAAUOADOAADOOADOO 0000 00000000000000000 0 0 0 0000 000 0000 000 0200 0 0000000000000000000 00 4 300 0 000 0 0 0 0000 0 0 000000020 00 00000000000000000 3000000000 3000 0 0 0 0000 640x480pixels 0 32x3
14. L 10 0000000000 0 TO TOTO UD 00000000000000000 e 00000000 e 00000000 2 Q0000000000 000000 O O DU LI Q000000000 00000000 OTO TTT TOTO UID Q00000000000000000000000 000 LJ L3 L3 L3 L3 L3 2 2 Augmented Reality Q00000000000 00000 Q000000000000000000000000000000000000 Augmented Reality AR O 000 0110 000 Mixed Reality Di 1770 0000000000000 ARDET UU UU Reality VROOOAAODDARDOOOAAOOD 000000 OU OU Q00000000000000000 0000 0 O 9 Q0000000000000000000000 GUIODODADDAODODODO
15. 20 Augmented Reality 11111 BBA Hs BNE BEBE 10141 L 0 Augmented Reality g 000 00 000000000000000 000 21 19900 1 0 1 O0000000000000000000 CUpOOOOOOOOOOOOOOOOO GUI 0 000000000000000000 am 1 CUI 3 000000000000 1 L 0000 2 OOODOAOOODOODOODADDODDODDOODADOODODOADODODOAUODODDO Q0000000000000000000000000GUI CUIOUODOO X window 1 TOT TO
16. Q0000000000000000 0000030 00000000000 00000000000 00000000000 0 000000000000000 000 00 MMD 23 0000000 0000000 0000000 000000000 0 L r3 r3 1 Rastogi OO 000 ARGOS O HM OU 23 AROOOOOOOOOOOOOOOOOOOOOO OODODOODOOODOODUOODUOODODOAUODDOODODOAODDODDOODO OOOODOODOODODOADOODOOADODOADODADODOADODOAODOODOODO OOOODOODODOODDODOODOOODDOODOADODODODAODODODDOODO OOOODOODOODOODODODDODDOAODUHMDODDOODOODOAODOAOD ODAODAODAOOAODADADAOAOAOOADAODAOAARODOODAODADOADAD OOOODODOODOODOOODOOODDOODOODODOODOOODOO ODAODAOOAOOAODAODAOAO AROODAODAADAODAODAODOODAODAODADA 000 00000000000 00000 Q000000000000000000000 0000000000000 Q000
17. Q0000000000ARCO0000000000000000000 25000000 0000000000000 00000 0 OTTO TO TTT 0000000000000 000 O TO TO TOT 0000000000000 00000 0000000 TO TUO 1 0 2 200 operat 2 2 AR system using half mirror 0 0 L 000000000000 AR Wellner 00 DigitalDeskl16 u 000 00000000000000000000 L 1 OG TG TOT TOTO L 0000000 Sato 00 0000000000000000000000000000000000000 00000000000000000000000000000 500000000 Enhanced desk 19 0 00 00000000000000000000000000000000000 0000 0 000000000000000000
18. TO TTT TOTO UU UD 1 UU 111 0101 Q00000000000000000000000000000 adaptive annotation 000000 4300000000000000000 AO 000000000000 O OT OO O TO TOO TUTTO TUTO 0000000000000 S 000000000000000000000000 Q0000000000A4D000000 2200000 OU OU OU OU L3 L3 r3 O A L3 L3 r3 O oo 1 PARTNERO 0 0 0 see through HMDOODOOOODOOODOODOOOOOODOODOAODDODODODOADOODO 0000000000000 2 000000000000000000000000000000000000OPART 000000000000 0000000 OO TO TOT TO TOTO UU DU OTO TTT 19 U
19. 000000000000 5 1 00000000000000 v 0 0 000000000000 0004001 2000000000 a uo Wi b 01 V2 B 1 1201 21102 000000000 wv 040 2 0 11 b 0000 000000000 X Y Z O0000000000000000000000000000 0 0 00000000000000000 3 ME oe o Il Y N lt OX Poo Poi Pos Poa P po pu Pio pa P20 P21 P22 P23 QUUO 2 3 0 10 1 0 0000000 0 B 4 Poob pioa Pod pia pozb piza po3b pia 1 P20 p21 P22 P23 gt gt 40 5 2 000000000 0 9 00000 6 00000000 0 0 BAO NG coordinate Camera coordinate B 1 Striped light range finder coordinates system UUIDUUDUCCDUIDUDUUDBUDUDUUUUuUun B 5 x QA T TI 5 lt di R 47 OOOO coo 601 2 cos C ie Cil C12 7 C20 C21 C22 C23 O0000X00000000000000000B400000000000000CcCD00 0 00000000000000000 Ac Poob pioa Pod pia pozb poq posb Pisa 2 P20 P21 P22 P2
20. Ed E 000 000 000 000 000 000 000 000 OU OU OU 5 5 00000000 00000000 Manipulative CODOOOOOOOOOOOOOODOOOOIOO L Pavlovic Dynamic Bayesian Net works DBN modified mixture of Move up H Move left Referental 8000 DBNOOO 19 1 0 00 10 0 9 0000 0000000000000 000 0 TO 0 9 00000
21. 00000000 640 x 000000000000 PARTNEROOOOOOOOOOOOOOOOOOOOOO 21 0000000000000000000000000000000000000000 000000000000000000000000000000000000000 000000000 4420000000000 200 000 0000000 00 0000000000 0 0000000000000000 00000000000 am 4 12 Target tracking 200000000000 TO 0 0000000000000000 8270000000000000000000 OOOOODODOAOUDOOAODOOAODODOADDOAOODOAODOOO 00000000 4BOODOODDOADODOOADOOADOOODOOODOO Q00000 RGBOOOOOOOOOOOOOOOOOOOO PARTNER Camera Image Z Target 9 2 ES EZ Extract Target 4 13 Target tracking 22 3 00000 UO TTT TTT TOO TOTO 1 UU 000 SPIDER29 0 0 0000008080000009000 00 414090 00 0000 0000 TO OO TOTO TO TOTO COUOOOUO 4 14 Thinning processing 43 000000000
22. 98 HDD U Manipulative QO 00000000000000 4 2 1111111111 HH Bu 1 1 0 L OOOO 0 410 VVorkstation VVorkstation i Itra5 Fujitu TRV CU Sun SPARC station 5 Sun Ultra5 ethernet ik Projector CCD Cameral Polaroid CCD Camera2 SONY XC 333 SONY XC 333 Infrared Cameral Infrared Camera2 Mitsubishi IR U300M1 1 Mitsubishi IR U300M1 HUMAN Operator EE 4 10 The prototype system of PARTNER PARTNER Q0000000000000000000000000000 PARTNEROOOADOAD 0000000000000 4110 CCD OU 00 noooxc a3sDOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOGO 0000000000000000000 20 4 11 CCD cameras infrared cameras and projector 000000
23. 8 Vladimir Ivan Pavlovic Dynamic Bayesian Networks for Information Fusion with Ap plication to Human Computer Interfaces PhD thesis University of Illinois at Urbana Champaign 1999 9 F K H Quek Toward a vision based hand gesture interface pp 17 31 IEEE Int Conf Virtual Reality Software and Technology Conf 1994 10 F K H Quek Eyes in the interface Image and Vision Computing Vol 13 pp 78 91 Augest 1995 11 R T Azuma A survey of augmented reality PRESENCE Vol 6 No 4 pp 355 385 1997 12 S Sato and S Sakane A human robot interface using an interactive hand pointer that projects a mark in the real work space pp 589 595 San Francisco California April 24 28 2000 IEEE International Conference on Robotics and Automation 13 Thad Starner and Alex Pntland Real time american sign language recognition from video using hidden markov models Technical Report 375 M I T Media Laboratory Perceptual Computing Section 1995 49 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 OU DO OODODDOOADOADOADODDOODOOODADOOOAOLD ODOO OOOOOO Vol 16 No 8 pp 1091 1098 1998 T Sato E Inoue and H Mizoguchi Support in situ for operation of fabrication pp 535 538 ROBOMEC 95 1995 Pierre Wellner Interactive with paper on the digitaldesk Communications of the ACM Vol 36 No 7 pp 87 97 July 1993 Y Ohta and H
24. Oo Oo se 00000000000 0 perspective projection 0 0 0000 U ZU 0 00000000000000 oe lo A 2 Camera coordinate system 39 A12 DODO Q00000000000000000000 000000 Q00000000000000000 000 T0 00 OOO OO TO TODO UO0UO Q0000000000000000000000000000000 0 vanishing point OOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 00000000000000 0 projective geometry 0 0000000000000000 000000 vanishing point 0 0 0 0 0 00 000 00000000 0 0 0 00 0 0 0 0 0000 0000 000000000000000000000 00 0 0 200 0 0 000 0 0 00 0200 00000000000000000 000000000 000 00 000 0 0 00002200 T A 2 X2 00000000000000 200000 3 22 40 000000000000000022 200 000000000000 00000000000000200000000000000000 4200 00000 20 20000000000000 00000000000000022000000000 000000020000000000000 1 L homogeneous coordinates 00 00 000000000000000000 0000 00000000 000020 000000000 id A 4 AL 000000000000 ATI 21 A 5 Ara 23 2000000000000 20 20 0 0 0 0 equibalence relation 000 0 Xz A 6 n
25. 0 D 000000 ROODOO TOOODODOODO 000000 X RX T A 17 Q000000000000000000 0 0000 00002000000 1 00 0 200000 7x0 TO 00000 1 0 0 cosOy 0 siny cos x sin0x R 0 sindx 0 1 0 sin x 0 0 sin x cosx sin y 0 cosy 0 0 1 Tx T T A 18 Tz 17 7 X MX A 19 RHHL 0 0 0 4x40G0000000000000 R T TH i 0000000 1 111 1 0 0 extrinstic parameter 0 1000000000000 A OOO0 0 0 0 extrinsic parameters matrix OOO 43 5 A 4 Camera coordinates and world coordinate 45 0000000000000000 A 15 DU 419000000000000000000000 xo00000000 mOOOODOODODOODOODOODDO PX A 21 Po 000 P AP M A R T A 22 00000000 21 1 10101001 0000 0 0 0 0 0 perspective camera model 0 P LU 1 D D U U 0 0 perspective camera matrix 0 00000000000000 44 0000000000000000 POOOO 3x400000000000 m PpX A 23 0000 0000003 4000000 pii Pi2 P13 4 pn po Pos po A 24 P31 P32 P33 4 Q00000003x400000000000000000 000000000000 Pel 0000000000
26. 1 0 1 1 UU 0000000000000 0 TO O TO TOTO TOTO 09 0000000000000 0 TO O TOT TOT 000000000000 00 0 9 54 4 33 The message Rotate the head part to be horizontal is projected 4 34 The state that the head part is properly rotated to be horizontal 35 50 200 150 100 50 Zi mm o 50 100 150 200 250 450 550 650 750 mo 450 550 650 750 850 model model a b O 4 35 comparison of the profile of the head part with the model a incorrect b correct operation 36 Ue UI I I Projector based ARODOOOOOOAOAAODADAODAADAODAOO PARTNEROOOOOOOO Adaptive Annotation Function O 00 00 00000000000000000000 000000000 TOT 1 010 0 00
27. PARTNER sl Ed a oe he eee 3 1 1 Virtual Operational Panel iL mie hi bi alia 3 1 2 Interactive Image Panel HE 3 1 3 Interactive Hand Pointer ear bb REM rw dass e s N Adaptive Annotation Function 47 42 AAFO OD T Qu ra 411 0000000 apos CURT IHE EP DET ae a aa apan rer G 3 Beek ENE EE EE BOERE SE RGN Ee APE s ati EROR TN EL y NO ON i33 O R GOEDE EYEE EIER os aan ae ve ae a Dx 45207 SEES aga salsa deser ne deme od ae a EE OO OE AE RO OO ma 050 OO i sette i le ein 0 RIT x cs ote OE SO AA SAT TEN TEN oa sone Bn arse 757 7 1 ODUN ee HO te de ee ee Pw NEUE NE RENE NE e S OR 293 Mu LL RE N ae Pn RADHA ah UES GE ER 42 AA EEE EEE EH ORNATE 31e OO ces Bony hes ter 43 ND serene 44 AS de Ho ed Edu ER EE EE GED EG ER ER 07 45 OUBOOOUDOOUDOUUDODOOUDODOOUOOO 46 EE DRR OER SEED OE GEGEE EDE ER OP ee s AAR AR ON 46 Air v 205 sin 47 000 0 51 ill 010 UI 11 000000000 OOOODOODOOUDODODOODOODOADOADDODDOODOODOOOO OOOODOODOODDOODDOODUOODODODODOADOADODODODOODO
28. n A 2 00000000 D A 21 00000000000 0000000000000000000000 y D0000000D0 X1 x v2 Y X3 1 000000000000 52 0 00000000000000000 000000000 2 700 000000000000000000000000 00000 X X X X X 0000000 A 7 X X X Y 51 A 8 NG 2 Xi 1 41 000000 20 X00000000000000000000 00000 Xi zi 10001 2 1 0 1 0 0 A 9 3 0010 4 A9000000000000 000 ME P X A 10 000 0 T r P 0100 A 11 0010 000 0 A 3 00000000000 0 lt
29. 0000 A6 0000000000000000000000 000000000000000000000 Hy X2 Xa X Y Z 17 mi m ms v H T 0 0000000000000000000 pii Pio pis Did v pa Po Pos Da 1 P31 P32 P33 P34 A 25 NK gt lt 000000000 2 00000000 0000000 Q00A25000A00000xOYOz00000000000000000 m Pu pa2u A 26 P24 934 X y 000000000000 pau Di 232 Piz P33U pis 31 P21 732 P22 D st 3 2316 pu 12 pia x P14 P32U 731 Pii P32V 222 D st pos y Poa AOT E E ors hag E a zif P31U pa 232 P12 233 13 2 P 14 p 32 7317 pa P330 Dos pu 723 OOODOOOOODOODUODOODOODOODUOUOOO MX D A 28 00000x0000000 M0000000 X M b 29 000000000000000000000000000000000 vd u O D 0000000000000000000 45 L B 0000000 0000000 11111 11 1 I
30. 0000 Master s thesis 111 1 ARI LU uu A human task assisting system using projector based Augmented Reality 0000000 AE E AA TS E ERE H 11 11 B Department of Industrial and Systems Engineering Graduate School of Science and Engineering Chuo University Masaya Yamashita 20010 30 220 UU 000000000 000 000 0 00 0 11000 1010111010 101 1 1101 1 1 0000000 0000 0 0 0000 0000 000 GO 0000 0000 0200 00 000000000000000000000 Augmented RealitytAR 00000 0000000000000000 0 0 0 00 00 0 0 0 0 00 00 00 0004000000 0 Adaptive Annotation Function AAPIO O OOOODOAAFODOOO OOOODOODOODODOODUOODOOADODOADDOAOADOADODOADOODOODO 0 00000000000000000 PARINEROOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOO 00000 CCDOOOODOODAODODOODOODAOODODAOUADOODOOD 1 Q00000000000 0 0 0000 UU OU 010 DO 11 00000000 12 EH 22 lS DM 0 20 Augmented RealityOOOOOOOOOOOOOOODO NR DT PU B B leone Le tee 4 2 2 Augmented Reality 23 2 030
31. 000000000 0 1986 50 30 00 00 00 00 0000000000000 0000000000000000 O pp 279 280 J O 1 1996 BI DOOO 000 000 0000 0000000 hmm bagging 00000000 0000000 0000000000 0 Vol J82 DII pp 1429 1434 1999 32 00 00 00 000000000000000000000000 0000000 00000000000 020 0 3 pp 397 398 September 2000 51
32. 0000000000000000000000000000000 00000 0 OOODOODODOUODOUOODOODOOODODOADOODODOO 130 PARTNER 31 0000000000000 00000 000000 00000000 teaching human tasks PARTNER Projector based AR for Teaching NEw tasks between human and Robot OO 00000 PARTNEROO0 00000000000000000000 00000000000 0 3 100 00000 AROOOHMDOODODAOAAAAOAODADAODADADAD O TT O TOT uni Q00000000000000000000000000 000000 lP VOP Virtual Operational Panel AAF Adaptive Annotation Functiton N teaching robot tasks Robot 3 1 Adaptive Annotation Function and other modules in PARTNER PARINEROOOOOOOOOOOOOOOO VOP HP IHP g 00000000000 Q0000000000000000000000000 Q000000000000000 VOPO HPI IHPOODODAOOO 3 2 Virtual Operational Panel 3 1 1 Virtual Operational Panel UUDDDDDD Vertual Operation Panel 4 0 000 0000000000000000 OO 32000000000000000 00 0 O TOTO CO OOO UOO00O 0000 0000000000 OO TOO TU CUOCO ATMO button D D HL D EL slider joystick infomation window 000000000000000000000 200000
33. 011 1 head lock 00000000000000 2 00000000 3 0000000000000000000000000 4 00000000000000000000000 5 0000000000000000000000000000000 6 00000000 23 4 15 Unfolding of a portable OHP device is a difficult test for a new user without consulting the manual 1 0 000000000000000000 OHPOOOODAODDAODAAADOOAD 0000000000000 0 TO O TOT TO TTT 9 Q000000000000000000000000000000000000 0 415 Q0000000000000 0 0 0 0 0 0000000 Q00000000000000000 416 4 8 1 000000000000 DO 1 0000000000000 4170000 Q00000000 4 8 TO TOTO TOTO
34. 2 pixels 1000000000000000 8 0 0000000000000000 69x0 49000 38111 1 111111 1 1 0000 8 80000 300000000000000000 0 000 0 0 000 00 00 000000000 0000 0000000 000 0 0000 0 0000 0000 000 0000 30000000000 00 0000000 101 0 DUT DUDU DUDU DUDUT 0 0 0 0 00 0 4200 10 16 0 25000 00000 420000 00 000000 920mm x 700mm Og 4400 4300000000000000 30000000000000 00 0 0000 0 2000000000000 200 0 00 0 0 0 0 0 00 0 0 00 69x49 00000000000000000 0 00 300000 000000000 00 i3 sect 0000 14 4 3 Project the random dots 4 4 An example of 3D data extracted by the range finder 15 O450000000000000000000000 0 00 00 000 0000000000000000000 000 0 0 0 0 0000 0000 000 3 00000000 69 49 0 0000 2 000000000 1 2 0000 Edge Preserving Smoothin 00000000000 00 000000000000000 000 3000000000000 000000000 0000000000000 dd i a ANNAN 0000000000000 0000000000000 OOo OO HOOOOOO COS Ei Poog L3 J D
35. 3 y NU C03 Coo Col 02 03 o B 6 AV C13 C10 C11 C12 C13 1 A 20 C21 C22 C23 0000A X00000 x Poob 10 Poo Don piia pac 032 pia pose y c20U Coo 6210 coi c22U Cog 2 CooV cio Ca V Cu 13 703 pisa po3U C13 V Q00000000000000000 48 0000 1 Virtual reality special report 1996 http www boeing com assocproducts art tech focus html 2 Viavoice 98 0 0 0 BM0 1998 3 Bajura Fuchs and Ohbuchi Merging virtual reality with the real world seeing ultrasound imagery within the patient In Compter Graphics Vol 26 pp 203 210 Proceedings of SIGGRAPH 02 1992 4 D Drascic and P Milgra Stereoscopic vision and augmented reality Scientific Computing and Automation Vol 9 No 7 pp 31 34 June 1993 5 Feiner Macltyre and Seligmann Knowledge based augmented reality Communications of the ACM Vol 36 No 7 pp 53 62 July 1993 6 K Ogawara S Iba T Tanuki H Kimura and K Ikeuchi Recognition of human task by attention point analysis Vol 3 pp 2121 2126 Kagawa November 2000 International Conference on Intelligent Robot and Systems IROS 00 7 M Nagao and T Matsuyama Edge preserving smoothing In CGIP Vol 9 pp 394 407 1979
36. ODO OOOODDOODOODOODOODUOOAUODODODO OOOODOODOOUDOADOODOADOADODAADOODODODOODOODO OOOODOODOOADODOADOODOOADODODODOAOADOADODOADODDOODO OOOODOODOODDOADUDOODOODOOODOOADOODODOODODDOODO OOOODOODOODDOADOODUDOODOADOAADOADODODODODDOODO UD 1 Od TO TOTO TUTO 1 L 000000 OOOODODOOODOAODOODODOODADODODADODOADOOODAOODODOOO Q000000000000000000000000000000000000000000AR Q000000000000000000000000000000000000 PARTNER Projector based AR for Teaching NEw tasks between human and Robot AR C0000000000000000000000000000 8300000000000 Head Mounted Display HMD 5 0 Q0000000000000000000000000000000000000 AROD DigitalDesk 16 d Q00000000000000QDigitalbesk 00 000000000000000000 0000000000000
37. Tamura Mixed Reality merging real and virtual worlds Springer 1999 Pierre Wellner et al 000000 000000000 00000000 1 7 7 O 1995 000 OD 00 00 00 Enhanced desk 1111 1 OOOO In Workshop on Interactive Systems and Software 87 5599 pp 49 54 Q000000 D0000 December 1999 0 00 00 0000 0000000000000 00 enhanced deskO D D D DU Q0000000000 0900 0 HISS pp 417 422 000000000000 Octobe 1999 000 GOOOOOOOOOOOOOOOOOOOOOOOOOOOOO Masters thesis DOODODO ODOODODOOODODODOO 2000 000 0000000000 AOODDOO O 310 pp 48 49 0000 1999 OOOD DOODODODOODOADOUDODODODOODODODUDODOODDADOO D 000000000000 0 9260 0 40 pp 87 125 April 1991 0 1 0 000000000 Vol 17 No 1 pp 48 49 1999 PhD thesis 000000000000 000000000000000000 LI May 24 1999 00000000000000 Vol J71 D No 10 pp 2059 2068 October 1988 00000 Td TUTT TTT TUTO OTO 00000000000 000000000000 50004 pp 19 22 DD May 2000 00 00 00 00000000000 Vol J68 D No 5 pp 1141 1148 1985 1085 0000000000 0000000000000000 sPIDER II 000 00
38. y is smaller than model 3l 150 150 100 100 50 50 2 50 50 100 100 150 150 200 200 250 250 450 550 650 750 850 450 550 650 750 850 X mm measured data Ximm measured data model model a b 4 28 Comparison of the profile of the main body with the model a incorrect b correct operation Guide Operation 3 4 29 Guide Operation diagram 32 4 31 Guide Operation 4 diagram 2000000000000000000000000000000 CAO 3 000000 SJUDDDUDDUDDU S3 0000000000000000000 000000000000000 30 0000000000 G 4 319 Q000000040000000000 00000000 UJU 1000000000000 Rotate the head part A4 00000 2 000000000000000000000000000000 Co 4340000 000000000000 43500000000000000 0 00000000000 33 4 32 The head part is projected to slide up 3 0000000000000000000000000 LL Rotate the head part to be horizontal A 0 H 4 3300 4 350 GO 0 0000 00000000000 0000000000000 UHT 000000000 4 3 3 00000 00 0000 0 0 0 0 000000000 0000000000 0000 0 0 TO TO TUTT l 9 Q000000000 4 11 1111 1
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