We describe an inexpensive, accurate, fast and scalable vision based indoor head pose tracking system. This system can be used for indoor tracking in VR and AR environments. Our approach uses video projectors to project a display grid pattern on the floor. The pattern consists of circular binary code color markers on a black and white checkerboard. A camera is attached to a user’s back, looking...

This paper presents an efficient framework for the interactive simulation and editing of clothing over avatars. Specifically, a very efficient costume designer application is proposed based on new developments in cloth modeling simulation and animation. To animate cloth an hierarchical simulator is used, which speeds up the simulation without loosing in accuracy. Enhanced interaction potentiali...

In this paper, we study the design and workspace of a 6–6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the moving platform can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace v...

In this paper we present our approach in creating Collaborative Virtual Environments to provide distributed collaborative teams with a virtual space where they can meet as if face-to-face, coexist and collaborate while sharing and manipulating a set of virtual data in real time. Thereby our approach moves beyond mere integration of video-conferencing and scienti c visualization, to create a des...

In this paper we present a real-time active motion strategy for a mobile robot navigating in a non-flat terrain and its 3D constrained motion model. The aim is to control the robot with measurements from only one camera that autonomously builds a visual feature map while at the same time optimises its localisation within this map. The technique chooses the most appropriate commands maximising t...

A straight forward application of feedback linearization to the missile autopilot design for acceleration control may be limited due to the nonminimum characteristics and the model uncertainties. As a remedy, this paper presents a cascade structure of an acceleration controller based on approximate feedback linearization methodology with a time-delay adaptation scheme. The inner loop controller...

We present an integrated system for the recognition, pose estimation and simultaneous tracking of multiple objects in 3D scenes. Our target application is a complete semantic representation of dynamic scenes which requires three essential steps; recognition of objects, tracking their movements, and identification of interactions between them. We address this challenge with a complete system whi...

This paper presents a 3D online path planning algorithm for a 6DOF Rotary Unmanned Aerial Vehicle (RUAV) operating in a cluttered environment using a Gaussian Process (GP) occupancy map. Traditional grid-based occupancy maps suffer from the curse of dimensionality for platforms that operate in a high dimensional configuration space. In addition, the grid resolutions, shapes and orientations lim...

− In this paper, we study the design and workspace of a 6-6 cable-suspended parallel robot. The workspace volume is characterized as the set of points where the centroid of the MP (MP) can reach with tensions in all suspension cables at a constant orientation. This paper attempts to tackle some aspects of optimal design of a 6DOF cable robot by addressing the variations of the workspace volume ...

This article describes the theoretical and implementation challenges associated with generating 3D odometry estimates (delta-pose) from RGBD sensor data in real-time to facilitate navigation in cluttered indoor environments. The underlying odometry algorithm applies to general 6DoF motion; however, the computational platforms, trajectories, and scene content are motivated by their intended use ...