The Reality of Virtual Reality is affected by many research areas. Therefore, individual researches must be combined to achieve the extreme goal of Virtual Reality. In this paper, we present an application of the novel and clever combination of height field wave simulation, photo realistic rendering, and a 6DOF manipulator exploiting Augmented Reality. In our system, a user can touch a virtual ...

This paper presents the results of augmenting 6DoF Simultaneous Localisation and Mapping (SLAM) with GNSS/INS navigation system. SLAM algorithm is a feature based terrain aided navigation system that has the capability for online map building, and simultaneously utilising the generated map to constrain the errors in the on-board Inertial Navigation System (INS). In this paper, indirect SLAM is ...

Networks of cameras such as building security systems can be a source of localization information for a mobile robot assuming a map of camera locations as well as calibration information for each camera is available. This thesis describes an automated system to acquire such information. A fully automated camera calibration system uses fiducial markers and a mobile robot in order to drastically ...

We present a quadrotor Micro Aerial Vehicle (MAV) equipped with four cameras, which are arranged in two stereo configurations. The MAV is able to perform stereo matching for each camera pair on-board and in real-time, using an efficient sparse stereo method. In case of the camera pair that is facing forward, the stereo matching results are used for a reduced stereo SLAM system. The other camera...

This paper investigated the design method for 6-DOF parallel micro-manipulators (PMMs) with isotropic/decoupled performances by studying the incidence relationship between outputs and inputs. First, The concept of reducible design is defined, and by using the proposed incidence matrix, the depiction of the incidence relationship between outputs and inputs of 6DOF PMMs is given. Then, the classi...

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task spac...

An affordance gesture motion interpolation is proposed, using an intuitive wireless 6DOF gesture input device, which includes Magnetic, Angular Rate, and Gravity (MARG) sensors, and a user interactive 3D gesture control interface, for creating motion by pose interpolation, from Dynamic Time Warping (DTW) gesture recognizer algorithm. In this paper we demonstrate that user can create and control...

We present a new method to estimate the 6DOF pose of the event camera solely based on the event stream. Our method first creates the event image from a list of events that occurs in a very short time interval, then a Stacked Spatial LSTM Network (SP-LSTM) is used to learn and estimate the camera pose. Our SP-LSTM comprises a CNN to learn deep features from the event images and a stack of LSTM t...

This paper describes a multithreaded platform to implement a haptic interface to control a Virtual Reality (VR) model of a 6DoF arm with applications towards rehabilitation robotics. The approach allows the defined threads to execute concurrently, resulting in increased utilization of the processor resources and higher instruction execution rates consistent with a realistic rendering of the tou...

We present a direct method to calculate a 6DoF pose change of a monocular camera for mobile navigation. The calculated pose is estimated up to a constant unknown scale parameter that is kept constant over the entire reconstruction process. This method allows a direct calculation of the metric position and rotation without any necessity to fuse the information in a probabilistic approach over lo...