Markerless augmented reality for robotic helicoptor applications

  • Authors:

  • Ian Yen-Hung Chen;Bruce MacDonald;Burkhard Wünsche

  • Affiliations:

  • Dept. of Electrical and Computer Engineering, University of Auckland, New Zealand;Dept. of Electrical and Computer Engineering, University of Auckland, New Zealand;Dept. of Computer Science, University of Auckland, New Zealand

  • Venue:
  • RobVis'08 Proceedings of the 2nd international conference on Robot vision
  • Year:
  • 2008

Quantified Score

Hi-index 0.00

Visualization

Abstract

The objective of this research is to apply markerless Augmented Reality (AR) techniques to aid in the visualisation of robotic helicopter related tasks. Conventional robotic AR applications work well with markers in prepared environments but are infeasible in outdoor settings. In this paper, we present preliminary results from a real time markerless AR system for tracking natural features in an agricultural scene. By constructing a virtual marker under a known initial configuration of the robotic helicopter, camera and the ground plane, the camera pose can be continuously tracked using the natural features from the image sequence to perform augmentation of virtual objects. The experiments are simulated on a mock-up model of an agricultural farm and the results show that the current AR system is capable of tracking the camera pose accurately for translational motions and roll rotations. Future work includes reducing jitter in the virtual marker vertices to improve camera pose estimation accuracy for pitch and yaw rotations, and implementing feature recovery algorithms.