ISMAR 2014: Comprehensive Workspace Calibration for Visuo-Haptic Augmented Reality
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The document presents a novel algorithm for comprehensive workspace calibration in visuo-haptic augmented reality (VHAR), achieving improvements of over 40% in orientation calibration and approximately 20% in position calibration. It addresses challenges related to time-delay compensation between sensors, enhancing the calibration process for more accurate pose correspondences. Evaluations demonstrate significant reductions in orientation and position errors, indicating a successful advancement in VHAR technology.
![Visuo-Haptic Augmented Reality (VHAR)
University of
South Australia
2
[Sandor C., TEDx Adelaide, 2010]](https://image.slidesharecdn.com/ismar14presentationpaperv01-140918084242-phpapp02/85/ISMAR-2014-Comprehensive-Workspace-Calibration-for-Visuo-Haptic-Augmented-Reality-2-320.jpg)
![Early examples of visuo-haptic co-location
University of
South Australia 4
Related Work
[Vallino, J. et al., ICMCS 1998] [Sandor, C. et al., IEICE 2007]](https://image.slidesharecdn.com/ismar14presentationpaperv01-140918084242-phpapp02/85/ISMAR-2014-Comprehensive-Workspace-Calibration-for-Visuo-Haptic-Augmented-Reality-4-320.jpg)
![Compensation of sensor errors
University of
South Australia 8
Related Work
[Ikits, M. et al., EG 2003] [Harders, M. et al., TVCG 2009]](https://image.slidesharecdn.com/ismar14presentationpaperv01-140918084242-phpapp02/85/ISMAR-2014-Comprehensive-Workspace-Calibration-for-Visuo-Haptic-Augmented-Reality-8-320.jpg)
![University of
South Australia 15
Time-delay estimation
[Huber, M et al., ISMAR 2009]](https://image.slidesharecdn.com/ismar14presentationpaperv01-140918084242-phpapp02/85/ISMAR-2014-Comprehensive-Workspace-Calibration-for-Visuo-Haptic-Augmented-Reality-15-320.jpg)
![Time-aware dataflow network
execution model
[Puskta, D et al., ISMAR 2007]
University of
South Australia 16](https://image.slidesharecdn.com/ismar14presentationpaperv01-140918084242-phpapp02/85/ISMAR-2014-Comprehensive-Workspace-Calibration-for-Visuo-Haptic-Augmented-Reality-16-320.jpg)
ISMAR 2014: Comprehensive Workspace Calibration for Visuo-Haptic Augmented Reality
- 1. Comprehensive Workspace Calibration for Visuo-Haptic Augmented Reality Ulrich Eck1, Frieder Pankratz2, Christian Sandor3, Gudrun Klinker2, Hamid Laga1 1 PBRC, University of South Australia, Australia 2 FAR, Technische Universität München, Germany 3 IMD Lab, Nara Institute of Science and Technology, Japan ! 10/09/2014, IEEE International Symposium on Mixed and Augmented Reality, Munich University of South Australia 1
- 2. Visuo-Haptic Augmented Reality (VHAR) University of South Australia 2 [Sandor C., TEDx Adelaide, 2010]
- 3. Novel algorithm for orientation calibration: >40% improvement Position calibration: ~20% improvement Time-delay compensation between sensors: faster and better calibration procedure University of South Australia Contributions 3 Previous work: position calibration only Improved: with orientation calibration
- 4. Early examples of visuo-haptic co-location University of South Australia 4 Related Work [Vallino, J. et al., ICMCS 1998] [Sandor, C. et al., IEICE 2007]
- 5. PHANToM Haptic Device: Joint Angles University of South Australia 5
- 6. PHANToM Haptic Device: Gimbal Angles University of South Australia 6
- 7. PHANToM Haptic Device: Sensor Errors University of South Australia 7
- 8. Compensation of sensor errors University of South Australia 8 Related Work [Ikits, M. et al., EG 2003] [Harders, M. et al., TVCG 2009]
- 9. Missing: Orientation Calibration University of South Australia 9 Position calibration only With orientation calibration Orientation Error in Degrees
- 10. University of South Australia Haptic Device Calibration External tracker provides reference pose Forward kinematics model calculates stylus pose from sensor measurements Sensor errors are modelled as linear or quadratic function Sensor errors are compensated by minimizing the distance to the reference Complete coverage of sensor ranges required Accurate pose correspondences required for good calibration results 10 External Tracker (ET) ETorigin HIPpose HIPtarget Haptic Device (HD) Ctarget Camera (C) HDorigin
- 11. Challenge: Unsynchronized Sensor Input Unknown delay between haptic device and external tracker Received measurements do not match during movement Related work tedious point and hold process for sampling corresponding measurements Our solution determine time-delay between sensors first and compensate it in software to allow users to move freely during the calibration process University of South Australia 11
- 12. University of South Australia Calibration Procedure Tooltip (Tuceryan et al., 1995) Absolute Orientation (Horn, 1987) Time-Delay Estimation (Huber et al., 2012) Joint-Angles (Harders et al., 2009) Reference Orientation Gimbal-Angle Errors 12 External Tracker (ET) ETorigin HIPpose HIPtarget Haptic Device (HD) Ctarget Camera (C) HDorigin
- 13. University of South Australia Calibration Procedure Tooltip (Tuceryan et al., 1995) Absolute Orientation (Horn, 1987) Time-Delay Estimation (Huber et al., 2012) Joint-Angles (Harders et al., 2009) Reference Orientation Gimbal-Angle Errors 13 External Tracker (ET) ETorigin HIPpose HIPtarget Haptic Device (HD) Ctarget Camera (C) HDorigin
- 14. University of South Australia Time-Delay Estimation 14 External Tracker (ET) ETorigin HIP Haptic Device (HD) HDorigin
- 15. University of South Australia 15 Time-delay estimation [Huber, M et al., ISMAR 2009]
- 16. Time-aware dataflow network execution model [Puskta, D et al., ISMAR 2007] University of South Australia 16
- 17. University of South Australia Calibration Procedure Tooltip (Tuceryan et al., 1995) Absolute Orientation (Horn, 1987) Time-Delay Estimation (Huber et al., 2012) Joint-Angles (Harders et al., 2009) Reference Orientation Gimbal-Angle Errors 17 External Tracker (ET) ETorigin HIPpose HIPtarget Haptic Device (HD) Ctarget Camera (C) HDorigin
- 18. Orientation Reference Estimation University of South Australia 18 External Tracker (ET) ETorigin HIP Haptic Device (HD) HDorigin
- 19. University of South Australia 19 Reference Orientation REFzaxis x y z z x y HIPpose HIPtarget x y z x y z HIPor igin REFzaxis
- 20. Reference Orientation Tracked markers travel on circular paths around the z-axis Transform marker positions with inverse forward kinematic pose using only the first 5 angles Fit circles to trajectories to find centers and fit a line through the centres and the HIP position University of South Australia 20
- 21. University of South Australia Calibration Procedure Tooltip (Tuceryan et al., 1995) Absolute Orientation (Horn, 1987) Time-Delay Estimation (Huber et al., 2012) Joint-Angles (Harders et al., 2009) Reference Orientation Gimbal-Angle Errors 21 External Tracker (ET) ETorigin HIPpose HIPtarget Haptic Device (HD) Ctarget Camera (C) HDorigin
- 22. Gimbal-Angle Error Compensation University of South Australia 22 External Tracker (ET) ETorigin HIP Haptic Device (HD) HDorigin
- 23. University of South Australia Gimbal-Angle Calibration Use reference z-axis to determine the errors of the first two gimbal sensors Model errors as linear or quadratic function Minimize error using Levenberg-Marquardt optimization Exploit mechanical limits of the last gimbal sensor by finding the gaps in the circular paths to compensate the offset 23
- 24. University of South Australia Evaluation Numerical Evaluation of calibration results: Two VHAR workspace setups: Low-fidelity (LF): PHANToM Omni, OptiTrack High-fidelity (HF): PHANToM Premium, ART-Tracking Visual Evaluation: Unwrapped spherical heatmap of recuded errors Visual overlays on haptic stylus in calibrated system 24
- 25. No Calib Harders Our Work No Calib Harders Our Work No Calib Harders Our Work No Calib Harders Our Work University of South Australia Numerical Evaluation 25 Reduced position errors by ~ 20% Reduced orientation errors by > 40%
- 26. Improved Orientation Accuracy University of South Australia 26 Reduction of Orientation Errors in Degrees
- 27. ISMAR 2014 Live Demo You can: - perform a calibration - paint on a fish We’re in Room 00.07.014 27
- 28. Summary Contributions: Novel algorithm for orientation calibration (>40% improvement) Improved position calibration (~20% improvement) Compensated time-delay for faster and better calibration University of South Australia 28 REFzaxis x y z z x y HIPpose HIPtarget x y z x y z HIPorigin REFzaxis Thank You!! Questions ?
- 29. University of South Australia References Harders, M. & Szekely, G., 2009. Calibration, Registration, and Synchronization for High Precision Augmented Reality Haptics. IEEE Transactions on Visualization and Computer Graphics, 15(1), pp.138– 149. Fu, M.J. et al., 2011. Effect of Visuo-Haptic Co-location on 3D Fitts' Task Performance. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ. San Francisco, CA, USA: IEEE, pp. 3460–3467. Rhienmora, P. et al., 2010. Augmented Reality Haptics System for Dental Surgical Skills Training. In Proceedings of the 17th ACM Symposium on Virtual Reality Software and Technology. Hong Kong: ACM, pp. 97–98. Ikits, M., Hansen, C.D. & Johnson, C.R., 2003. A Comprehensive Calibration and Registration Procedure for the Visual Haptic Workbench. In the workshop. New York, NY, USA: ACM, pp. 247–254. Vallino, J. & Brown, C., 1999. Haptics in Augmented Reality. In Proceedings of the IEEE International Conference on Multimedia Computing and Systems. pp. 195–200. Horn, B.K.P., 1987. Closed-form Solution of Absolute Orientation using Unit Quaternions. Journal of the Optical Society of America, 4(4), pp.629–642. Tuceryan, M., Greer, D.S. & Whitaker, R.T., 1995. Calibration Requirements and Procedures for a Monitor- Based Augmented Reality System. Visualization and …, 1(3), pp.255–273. Pustka, D. et al., 2006. Spatial Relationship Patterns: Elements of Reusable Tracking and Calibration Systems. In Proceedings of the International Symposium for Mixed and Augmented Reality. Santa Barbara, CA, USA, pp. 88–97. Sandor, C. & Uchiyama, S., 2007. Exploring Visuo-Haptic Mixed Reality, IEICE. Huber, M., Michael, S. & Klinker, G., 2012. Temporal Calibration in Multisensor Tracking Setups. 9. Workshop der GI-Fachgruppe Virtuelle und Erweiterte Realität (VR-AR 2012), pp.201–212. 29