Alignment of Stereoscopic 3D Cameras to Real World Controls

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1 Alignment of Stereoscopic 3D Cameras to Real World Controls John T Murray 1156 High Street Santa Cruz, CA lucid@soe.ucsc.edu Abstract Augmented reality has recently become more affordable and accessible due to the widespread availability of devices with orientation and displays. The technology behind augmented reality has been investigated since the 1960s, with the enabling technologies and techniques having been first use in cockpits and gunnery sights. Modern uses include finding locations of interest and in new entertainment experiences created for consumers. In this paper we survey the probblems particular to a specific augmented reality scenario and device, the Foresight, which allows see-through augmented reality without access to the controls of the device displaying the information. We present an approach that addresses the problems of alignment and adjustment, along with a set of avenues for investigation. Introduction Computing has traditionally been confined to a rectalinear screen sitting on a desk, or more recently held in the hand of a mobile device user. The fields of computer graphics and computational cinematography have pushed the level of realism and immersion for that particular medium to its limit, drawing from film and photography for inspiration behind complex light models and control schemes. Augmented reality seeks to take computation to the next step: integrating virtual objects directly into the field of view of a user, often into the same space. It is associated with a host of problems including registration, properly focusing light, occlusion and how to interact with such objects. The medium has seen a recent increase in attention due to the smartphone s abilities to use a video camera to composite computer graphics onto a live view of a scene. This is one form of augmented reality. Another form, the form we are investigating in this paper is that of see-through AR using a head mounted display. This paper describes the necessary steps to present a 3D task to a user of the augmented reality system, accept calibration information both for registration and for adjusting the stereographic view, and finally proposing methods to evaluate and extend the technology to other use cases. After a quick overview of the field, we take a look at how augmented reality works both in general and in the particular Copyright 2011, Association for the Advancement of Artificial Intelligence ( All rights reserved. system employed. We then examine the setup and system for testing the concepts, including two smartphones (a controller and a viewer ). These devices are used to test and adjust for the aforementioned issues of registration and calibration. Finally, possible future directions for the work are investigated, taking particular note of the as yet untapped potential of the medium for describing and manipulating processes and agents. This includes using secondary devices to provide precise feedback and adjustments to a scene or visualization in progress. Augmented reality s appeal has been universal in its lineage and popular depictions, from Terminator to more recently Portal 2 s interface, AR is poised to become a part of everyday life for mobile users. Background and Related Works Augmented reality combines virtual and real images to create an enhanced view of a particular environment. It builds on a much older idea of stereography, whereby each eye is given differing images to create an accute illusion of depth and presence. In this section, we ll review related works and concepts for how stereographic 3D illusions work, how they relate to augmented reality and the system developed in particular. Finally, we ll review the selected tasks the system is designed to test. Stereographic 3D How Stereographic Vision Works To understand how to simulate stereographic binocular vision in a virtual world, it is necessary to understand how binocular vision is created in the physical world. Fortunately, this is well understood, and was well described by the inventor of the first practical stereoscope (Brewster 1856). First, examine the way vision works when a viewer is looking at an object in the real-world. Both eyes see the object, but each eye sees it from a different angle. In Figure 1 the object is a truncated cone, as seen from the shorter end, though the pair of eyes R and L. As the eyes scan over the object, the eyes only focus on one point on the object at a time. If eye L is looking at point A along line-of-sight A, then R is looking at A as well, but along line-of-sight a. As the focus moves to different parts of the truncated cone, the line of sight of each eye would

2 Figure 1: An illustration showing the way two eyes can see an image with binocular vision. (Brewster 1856) move, and the eyes would rotate and refocus, so that both eyes were still looking at the same point on the object. Building the Virtual Stereographic Pair Now imagine that we needed to capture the image that the each eye sees, but as it would be seen on a two-dimensional plane. This is illustrated in Figure 2. As the eyes travel over the image, they still rest on the same points on the truncated cone, as they did before. But now, when the eyes are both focusing on, for example, point m, as eye L s line-of-sight is directed toward m, but it passes through the plane at point A. When eye R looks at the same point, its line-of-sight passes through point a on the plane. It can be clearly seen from the diagram that as the eyes converge on different points on the object, there is a corresponding pair of points on the plane. By building up a set of these points (one for every point on the object), the flat plane will develop a perfectly convincing replacement for what the eyes would have naturally seen. Correcting the Focal Distance The image is a perfect point-for-point replica, but now it is now too close to the eyes. If the eyes were expecting to focus on the original truncated cone, they would be focussed further out, and this image would be out-of-focus and blurry. However, one of the most important early innovations of the stereoscope was the Figure 2: An illustration showing two eyes binocular vision as a projection on a flat plane. (Brewster 1856) addition of lenses (Brewster 1856). This corrected the focal distance issue, and now the stereograph was a perfect match for a viewer s natural binocular vision. Augmented Reality Augmented reality aspires to realtime inclusion of virtual elements into the view of an actual environment. The three primary components include registration/tracking, whereby the viewpoint of the user is reconciled with the internal model of the environment. Another component includes the combinig of virtual and physical elements, done using either video see-through or some sort of combiner which allows the virtual elements to appear overtop real objects, but doesn t necessarily allow the virtual objects to occlude real objects. The final form, not discussed further in this paper uses projected imagery to augment a prepared environment, thus eliminating the need for wearables all together. The final characteristic of augmented reality systems is the presence of problems associated with presenting the information the fact that we derrived depth from the disparity between our eyes, the focal distance of objects and other subtle cues makes any virtual object appearing in the correct place but focusing at infinity a potential problem. Our viewer addresses a number of these problems: by using an iphone, we can take advantage of the 6 degrees of freedom, including X, Y and Z as well as yaw, pitch and roll. By using this, we can help at least marginally adjust for the

3 user s behavior. The effect isn t perfect, though, due to lag and other issues. The viewer presents a stereographic image to the user using a side-by-side rendered view of a 3D scene, thus eliminating the problems associated with biocular vision, where two images are the same (Bimber and Raskar 2005). Significant challenges remain as far as accuracy of all of those elements, but a great deal of interest and innovation has spurred the rapid development on mobile devices within these constraints. Applications ranging from 360 panoramas to games which push you to play with real-life objects and surfaces and virtual. Other non-commercial uses are continuing on and will likely come into consumer hands once the prices go down even further. Some of these applications include military, medical and even industry scenarios where the user s hands cannot be freed or their attention shouldn t be divided between a monitor and the object of interest. Scene and Camera Setup Figure 5: Camera Setup Figure 3: Augmented Reality setup(azuma et al. 2001) Our particular exploration of the domain narrows down the possibility space to the following constraints: no input can be provided using the viewer, which is to say the iphone acting as the source for the image reflected into the viewer s eyes (see 3, which allows interaction with the device itself By tilting and moving the viewer, you can Experiment and System Design The box was chosen because it would represent the controller, and could be fashioned to emulate the dimensions of whichever controller was being used. Originally we were going to create a game which involved the orientation of the virtual object and the controller, testing the user s performance in navigating the object through an obstacle course. Communication and System Architecture For our setup, we first attempted to use a wiimote for the control, using its accelerometer and gyroscope to position the object in view. This caused multiple issues with connecting. Instead, we ve created a single client application that connects to a Unity program that handles the view parameters. The client connects to the server over a standard TCP/IP socket, and sends updates from its accelerometer and gryoscope. Since the iphone has these capabilities, it made sense to use two separate devices one for viewing, and one for control. The control device can therefore also accept input in the form of button presses or sliders to adjust the view parameters, as well as function as a spatial orientation input. An ipad could also fill this role. Figure 4: Stereographic Scene Our experiment was designed with the two tasks of calibration and registration in mind. In 4, the vergence and interoccular distance is take into account when rendering the stereographic view presented in the viewer. This was accomplished by creating two separate cameras with an angle between them such that they simulated the eye s focusing on an object nearby. Figure 6: The system setup 1. Display virtual object defined by parameter vector

4 2. Use wiimote to control the object until it is in the correct position, record new parameter vector 3. Record device parameters from control device 4. Change head-mounted display orientation 5. Go Back to (1) to start another iteration By recording correspondent pairs of parameter vector and device vector, we will be able to establish a relationship between them. For example, parameter vector can be the how far the virtual object is from the user while the device parameter is the disparity between left and right eye images; or parameter vector can be the angle between the object edge and horizontal line while the device parameter is the gravity vector. Then it is possible to use collected data for calibration, algorithm improvement, etc. Here we show two test cases respectively for depth and orientation alignment. Both test cases are under the general test framework introduced above. Figure 7: Test case for virtual object depth alignment Test Case 1 - Depth Alignment 7 shows the scene observed by users with head-mounted display. Since we are delivering different images for left eye and right eye, we can achieve stereoscopic effect by creating disparity for the two channels. Using a wiimote to adjust disparity to different levels, users can observe the virtual object to be on different depths compared with the real object. Figure 8: Test case for virtual object orientation alignment Test Case 2 - Orientation Alignment Similarly in 8, we also want to use the correct orientation to display virtual object. For example when you tilt your head to the left, without orientation alignment, you will see the situation similar as the leftmost virtual object. Future Work Despite the widespread research into the underlying technologies, the most fruitful and as-yet unfinished research is in the area of interface design for a mixed or augmented reality system. The constraints of the system used provide sufficient motivation to pursue alternate input methods. These include the further use of companion devices, such as an smartphone or tablet which can be used to provide input or specific orientation information to some virtual representation. The applications of this and other approaches to augmented reality, though numerous, are currently just out of reach due to cost issues and certain unsolved research questions (Krevelen and Poelman 2010). Among these questions include the fluid incorporation of input and the teaching of that system to users accustomed to the WIMP (Windows Icon Mouse Pointer) paradigm. One future direction would be to explore how information commonly presented on websites could be integrated into a control and display schema, where gestures are mapped to navigational equivalents. Another research vein originally considered was entertainment, specifically games where the user s viewpoint became an expressive element. This was explored extensively in AR Facade, a version of the highly acclaimed interactive drama (Dow et al. 2007). Some conventions that could address issues identified by the study include shifting the viewpoint to an external viewpoint during key moments of emotion or contact. These events could be anticipated and signaled so that the transition wasn t jarring, but rather provided an adequate sensation of embodiment for the situation depicted. The possibility space created by combining the new viewer with both the traditional challenges of augmented reality and the new affordances of a mass audience includes both creative and practical applications, often using the same problems and techniques. The initial steps taken in this study provides a method for investigating these techniques. Conclusions While the work is currently very preliminary, the system demonstrates all of the desired attributes: 1-1 mapping of orientation of a physical input with a corresponding virtual object, the adjustment and calibration of the stereographic parameters (interpupil distance, angle and field of view) and finally the use of alternate inputs through either the control device or the orientation/gestures detected by the viewer. The experiment will yield data regarding the time it takes to adjust the system to a user s particular interocular distance and the advantages to focusing using angular disparity as opposed to simply relying on the parallel cameras to work. The system s components worked as desired, including the server and client code and the usage of accelerometer

5 data. Further experimentation will yield the correct steps necessary to quickly (and possibly in a game-like fashion) calibrate the view of the device to a particular user. References Azuma, R.; Baillot, Y.; Behringer, R.; Feiner, S.; Julier, S.; and MacIntyre, B Recent advances in augmented reality. IEEE Computer Graphics and Applications 21(6): Bimber, O., and Raskar, R Spatial Augmented Reality Merging Real and Virtual Worlds Spatial Augmented Reality. Elements. Brewster, D The stereoscope: Its history, theory and construction. Morgan and Morgan, Inc. Dow, S.; Mehta, M.; Harmon, E.; MacIntyre, B.; and Mateas, M Presence and engagement in an interactive drama. In Proceedings of the SIGCHI conference on Human factors in computing systems, ACM. Krevelen, D. W. F. V., and Poelman, R A Survey of Augmented Reality Technologies, Applications and Limitations. The International Journal of Virtual Reality 9(2):1 20.

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