Introduction to Mixed Reality

Introduction to Mixed Reality Jung Lee Contents • Basic Principles of MR • Application Examples • MR Devices • Discussion 2017/4/17 | # 2 Who Am I? 2017/4/17 | # 3 Virtual Reality, VR • Virtual space with only artificial entities Inception, 2010 2017/4/17 | # 4 Augmented Reality, AR • Real world overlapped with virtual entities . + interaction among them Harry Potter & the Order of the Phoenix, 2007 2017/4/17 | # 5 What is Augmented Reality? 2017/4/17 | # 6 What is Augmented Reality? • Definition by Ronald Azuma, 1997 . Real world with virtual entities . Interactive in real-time . Placed in 3D Augmented Reality Car 2017/4/17 | # 7 Mixed Reality Continuum • Combinations of the real and virtual worlds Mixed Reality Augmented Augmented Virtual Reality Reality Virtuality Reality 2017/4/17 | # 8 MIT Sixth Sense (Pranav Mistry, TED 2009) • Prototype for the future AR concept 2017/4/17 | # 9 Basic Principles of MR Basic Principle of VR • Binocular disparity . Difference between images seen from both eyes 2017/4/17 | # 11 2017/4/17 | # 12 Basic Roles of AR Components • User . Observes the AR display and . Changes the viewpoint • System . Tracks the user’s viewpoint, . Registers the virtual content in the real world, and . Presents situated visualization 2017/4/17 | # 13 Application Examples Virtual Try-On FXMirror, FXGear 2017/4/17 | # 15 VR Therapy : Arachnophobia • Realistic movement of a virtual spider . Relatively weak immersion into the situation 2017/4/17 | # 16 VR Therapy : PTSD • Soldiers, fire fighters, policemen, victims of sexual assaults, etc. Repeating the similar situations 2017/4/17 | # 17 Sport Broadcast Visualization 2017/4/17 | # 18 AR Browser • Superimposes points of interest on a live video Yelp Monocle 2017/4/17 | # 19 Translation • Spontaneous translations of text . Over the camera image Google Translate 2017/4/17 | # 20 AR Navigation i-Navi 2017/4/17 | # 21 Augmented Magazines 2017/4/17 | # 22 AR Game The Eye of Judgement, SCE Japan Studio, 2007 2017/4/17 | # 23 AR Environment Illumi Room, Microsoft Research 2017/4/17 | # 24 MR Devices <VR> HTC Vive 2017/4/17 | # 26 <VR> Tilt Brush, Google 2017/4/17 | # 27 <VR> Cyberith Virtualizer + Oculus Rift + Wii Mote 2017/4/17 | # 28 HMD : Head-Mounted Display Gear VR, Samsung • Smartphone-based VR HMD* • Partnership with Oculus . Head tracking . Touch-based controller Google Cardboard 2017/4/17 | # 29 Crisis of Samsung in 2016 2017/4/17 | # 30 <VR> Playstation VR (PSVR) 2017/4/17 | # 31 <VR> Summer Lesson for PSVR 2017/4/17 | # 32 <VR> Social VR, Facebook 2017/4/17 | # 33 <VR> Microsoft ???????, $299 !!! . Coming on Windows 10 Creator's Update • Free positioning 2017/4/17 | # 34 <AR> Google Glass 2017/4/17 | # 35 <AR> META 2 2017/4/17 | # 36 <AR> HoloLens, Microsoft (Concept) 2017/4/17 | # 37 <AR> HoloLens, Microsoft (Demo) 2017/4/17 | # 38 <AR> Magic Leap 2017/4/17 | # 39 <Interface> Manus VR 2017/4/17 | # 40 <Interface> Project Soli, Google 2017/4/17 | # 41 <Interface> MYO, Thalmic Labs 2017/4/17 | # 42 <Interface> Eye Tribe 2017/4/17 | # 43 <Interface> KOR-FX 2017/4/17 | # 44 Discussion • High-quality MR devices are coming … • Lack of contents & applications . VR : entertainment (game, remote experience, …) . AR : life assistant (info. provider, virtual surgery, …) • VR : indoor application • AR : everywhere application 2017/4/17 | # 45 My Vision • AR memory palace • Unified AR framework . Ubiquitous • Everywhere • Anytime . Intuitive • Everyone • Anything 2017/4/17 | # 46.

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Arxiv:1809.01578V2 [Cs.RO] 4 Apr 2019 World
Telexistence and Teleoperation for Walking Humanoid Robots Mohamed Elobaid1, Yue Hu1, Giulio Romualdi12, Stefano Dafarra12, Jan Babic3, and Daniele Pucci1 1 Fondazione Istituto Italiano di Tecnologia, 16163 Genova, Italy [email protected] 2 DIBRIS, Universitàdegli studi di Genova, 16163 Genova, Italy 3 Jo~zefStefan Institute, Jamova cesta 39, 1000 Ljubljana, Slovenia [email protected] Abstract. This paper proposes an architecture for achieving telexis- tence and teleoperation of humanoid robots. The architecture combines several technological set-ups, methodologies, locomotion and manipula- tion algorithms in a novel manner, thus building upon and extending works available in literature. The approach allows a human operator to command and telexist with the robot. Therefore, in this work we treat aspects pertaining not only to the proposed architecture structure and implementation, but also the human operator experience in terms of ability to adapt to the robot and to the architecture. The proprioception aspects and embodiment of the robot are studied through specific exper- imental results, which are treated in a high-level manner. Application of the proposed architecture and experiments incorporating user train- ing and experience are addressed using an illustrative bipedal humanoid robot, namely the iCub robot. Keywords: Teleoperation, Humaniods, Telexistance 1 Introduction With the advancements in the field of robotics, teleoperation is no longer seen just as a mean of manipulating a device remotely, but also as a possible mean for telexistence, i.e. giving a real-time sensation to a human being to be in another place, strictly speaking in the context we are considering, a place in the real arXiv:1809.01578v2 [cs.RO] 4 Apr 2019 world.
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