Publication
Manipulation of Tactile Perception of Objects in Mixed Reality
| Summary: | After the resurgence of virtual reality as a research topic due to, among other advancements in technology, the improvement of head-mounted displays. Mixed reality falls in, naturally, as the next step in human, computer and environment interaction, blending the physical world with the digital one.Heretofore, human interaction with computers occurs through an assortment of devices, which range from trackballs to controllers. With mixed and virtual reality environments, most applications purely rely on proprioception for object interaction, which causes the manipulation challenging, in most cases. While the operation of traditional input methods sound inadequate for the interaction. This dissertation proposes the use of a real object, referred to as instrumented object, with pose tracking, passive haptics and wireless capabilities. The aforementioned systems determines the object's pose, by fusing a visual pose estimation granted by an external camera, with the pose handed over by strapdown inertial navigation employing a MEMS inertial sensor.The visual pose estimation is performed through the tracking of a set of fiducial markers placed on the surface of the instrumented object. The pose tracking in the inertial system is performed by double integration of the measured acceleration in the correct orientation frame, after gravity removal. The attitude tracking is performed by a complementary filter, which combines data from the gyroscope, accelerometer and magnetometer for a orientation estimate. In other to certify the performance of the inertial sensor, an analysis was conducted illustrating the sensor disturbances and a calibration was implemented to lessen these effects.The work hereby presented, concluded in the development of a functioning prototype. It provides an improvement for tactile stimulus which as been neglected until now, therefore enhancing user's immersion, contributing as a complementary tool for adoption within virtual and mixed reality scenarios. |
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| Main Authors: | Gouveia, Nuno Rafael Pereira |
| Subject: | Realidade Virtual Realidade Mista Objecto Instrumentado Seguimento Visual Sistema Inercial Virtual Reality Mixed Reality Instrumented Object Visual Tracking Inertial System |
| Year: | 2017 |
| Country: | Portugal |
| Document type: | master thesis |
| Access type: | open access |
| Associated institution: | Universidade de Coimbra |
| Language: | English |
| Origin: | Estudo Geral - Universidade de Coimbra |
| Summary: | After the resurgence of virtual reality as a research topic due to, among other advancements in technology, the improvement of head-mounted displays. Mixed reality falls in, naturally, as the next step in human, computer and environment interaction, blending the physical world with the digital one.Heretofore, human interaction with computers occurs through an assortment of devices, which range from trackballs to controllers. With mixed and virtual reality environments, most applications purely rely on proprioception for object interaction, which causes the manipulation challenging, in most cases. While the operation of traditional input methods sound inadequate for the interaction. This dissertation proposes the use of a real object, referred to as instrumented object, with pose tracking, passive haptics and wireless capabilities. The aforementioned systems determines the object's pose, by fusing a visual pose estimation granted by an external camera, with the pose handed over by strapdown inertial navigation employing a MEMS inertial sensor.The visual pose estimation is performed through the tracking of a set of fiducial markers placed on the surface of the instrumented object. The pose tracking in the inertial system is performed by double integration of the measured acceleration in the correct orientation frame, after gravity removal. The attitude tracking is performed by a complementary filter, which combines data from the gyroscope, accelerometer and magnetometer for a orientation estimate. In other to certify the performance of the inertial sensor, an analysis was conducted illustrating the sensor disturbances and a calibration was implemented to lessen these effects.The work hereby presented, concluded in the development of a functioning prototype. It provides an improvement for tactile stimulus which as been neglected until now, therefore enhancing user's immersion, contributing as a complementary tool for adoption within virtual and mixed reality scenarios. |
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Funded activities
No funded projects found.