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Real-time Color Ball Tracking for Augmented Reality (English)

In: Eurographics Workshop on Virtual Environments   ;  9-16  ;  2008

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In this paper, we introduce a light-weight and robust tracking technique based on color balls. The algorithm builds on a variant of randomized Hough transform and is optimized for a use in real-time applications like on low-cost Augmented Reality (AR) systems. With just one conventional color camera our approach provides the ability to determine the 3D position of several color balls at interactive frame rates on a common PC workstation. It is fast enough to be easily combined with another real-time tracking engine. In contrast to popular tracking techniques based on recognition of planar fiducial markers it offers robustness to partial occlusion, which eases handling and manipulation. Furthermore, while using balls as markers a proper haptic feedback and visual metaphor is provided. The exemplary use of our technique in the context of two AR applications indicates the effectiveness of the proposed approach.

Table of contents conference proceedings

The tables of contents are generated automatically and are based on the data records of the individual contributions available in the index of the TIB portal. The display of the Tables of Contents may therefore be incomplete.

1
Selective Stylization for Visually Uniform Tangible AR
Fischer, Jan / Flohr, Daniel / Straßer, Wolfgang et al. | 2008
1
Visible Portion Estimation of Moving Target Objects for Networked Wearable Augmented Reality
Makita, K. / Kanbara, M. / Yokoya, N. / European Association for Computer Graphics et al. | 2008
5
Intuitive Navigation in Virtual Environments
Steiner, M. / Reiter, P. / Ofenbock, C. / Settgast, V. / Ullrich, T. / Lancelle, M. / Fellner, D.W. / European Association for Computer Graphics et al. | 2008
9
Real-time Color Ball Tracking for Augmented Reality
Sýkora, Daniel / Sedlácek, David / Riege, Kai et al. | 2008
9
Low-Cost, Portable, Multi-Wall Virtual Reality
Miller, Samuel A. / Misch, Noah J. / Dalton, Aaron J. et al. | 2005
9
Blue-c: A Spatially Immersive Display and 3D Video Portal
Gross, M. et al. | 2003
9
Exploring Unsteady Flows by Parallel Extraction of Property-enhanced Pathlines and Interactive Post-filtering
Vetter, M. / Manten, S. / Olbrich, S. / European Association for Computer Graphics et al. | 2008
11
Towards Virtual Reality for the Masses: 10 Years of Research at Disneys VR Studio
Mine, Mark et al. | 2003
13
Improvement Rendering of Web3D Using the Shading Language
Sakai, M. / Ichijo, N. / Dobashi, Y. / Yamamoto, T. / European Association for Computer Graphics et al. | 2008
15
Using a single Spatial light modulator for stereoscopic images of high color quality and resolution
Hopp, Armin et al. | 2005
17
A View Management Method for Mobile Mixed Reality Systems
Shibata, Fumihisa / Nakamoto, Hiroyuki / Sasaki, Ryoichi / Kimura, Asako / Tamura, Hideyuki et al. | 2008
17
Effects of Platform (Immersive versus Non-immersive) on Usability and Enjoyment of a Virtual Learning Environment for Deaf and Hearing Children
Adamo-Villani, N. / Wilbur, R.B. / European Association for Computer Graphics et al. | 2008
19
Interactive Augmented Reality Techniques for Construction at a Distance of 3D Geometry
Piekarski, Wayne / Thomas, Bruce H. et al. | 2003
21
Usability Evaluation in Virtual Reality: A User Study Comparing Three Different Setups
Santos, B.S. / Dias, P. / Silva, S. / Capucho, L. / Salgado, N. / Lino, F. / Carvalho, V. / Ferreira, C. / European Association for Computer Graphics et al. | 2008
23
Imperceptible Projection Blanking for Reliable Segmentation within Mixed Reality Applications
Kuechler, M. / Kunz, A. et al. | 2005
25
Drawing the Gaps: Graphical Methods for Representing Geospatial and Temporal Uncertainty with Cultural Artifacts
Trutoiu, L.C. / Ownby, C. / Shirley, P. / Thompson, W. / European Association for Computer Graphics et al. | 2008
25
BAT - a Distributed Meta-tracking System
Kahlesz, Ferenc / Klein, Reinhard et al. | 2008
29
The Invisible Person - Advanced Interaction Using an Embedded Interface
Psik, Thomas / Matkovic, Kresimir / Sainitzer, Reinhard / Petta, Paolo / Szalavari, Zsolt et al. | 2003
31
A User Guidance Approach for Passive Haptic Environments
Steinicke, F. / Welzel, H. / Bruder, G. / Hinrichs, K. / European Association for Computer Graphics et al. | 2008
31
Binaural Acoustics For CAVE-like Environments Without Headphones
Assenmacher, I. / Kuhlen, T. / Lentz, T. et al. | 2005
33
A Framework for Performance Evaluation of Model-Based Optical Trackers
Smit, Ferdi A. / Liere, Robert van et al. | 2008
35
An Approach to Interaction Interoperability for Distributed Virtual Environments
Ahmed, H.M. / Gracanin, D. / Abdel-Hamid, A. / Matkovic, K. / European Association for Computer Graphics et al. | 2008
39
The ToolFinger: Supporting Complex Direct Manipulation in Virtual Environments
Wesche, Gerold et al. | 2003
39
A Proposal for a Procedural Terrain Modelling Framework
Smelik, R.M. / Tutenel, T. / de Kraker, K.J. / Bidarra, R. / European Association for Computer Graphics et al. | 2008
41
Optical Tracking and Calibration of Tangible Interaction Devices
Rhijn, Arjen van / Mulder, Jurriaan D. et al. | 2005
41
Camera Calibration of a NintendoWii Remote using PA-10 Robotic Arms
Grimes, Holly S. / Ferguson, Robin Stuart / McMenemy, Karen et al. | 2008
47
Advancements in 3D Interactive Devices for Virtual Environments
Wormell, D. / Foxlin, E. et al. | 2003
49
Supervision of 3D Multimodal Rendering for Protein-protein Virtual Docking
Bouyer, Guillaume / Bourdot, Patrick et al. | 2008
51
Näprä - Affordable Fingertip Tracking with Ultrasound
Reunanen, M. / Palovuori, K. / Ilmonen, T. / Mäkelä, W. et al. | 2005
57
Integrating Particle Dispersion Models into Real-time Virtual Environments
Willemsen, Peter / Norgren, Andrew / Singh, Balwinder / Pardyjak, Eric R. et al. | 2008
57
A Virtual Environment for Conceptual Design in Architecture
Anderson, Lee / Esser, James / Interrante, Victoria et al. | 2003
59
Running Large VR Applications on a PC Cluster: the FlowVR Experience
Allard, Jérémie / Ménier, Clément / Boyer, Edmond / Raffin, Bruno et al. | 2005
65
Interactive and Accurate Collision Detection in Virtual Orthodontics
Rodrigues, Maria Andréia F. / Rocha, Rafael S. / Silva, Wendel B. et al. | 2008
65
Real-Time Representation of Complex Lighting Data in a Nightdrive Simulation
Berssenbrügge, J. / Gausemeier, J. / Grafe, M. / Matysczok, C. / Pöhland, K. et al. | 2003
69
A Game Engine-based Multi-Projection Virtual Environment with System-Level Synchronization
Hashimoto, Naoki / Ishida, Yoshihiko / Sato, Makoto et al. | 2005
71
Augmented Reality for manufacturing planning
Doil, F. / Schreiber, W. / Alt, T. / Patron, C. et al. | 2003
73
miniCAVE - A Fully immersive Display System Using Consumer Hardware
Schlechtweg, Stefan et al. | 2008
77
ViSTA FlowLib - A Framework for Interactive Visualization and Exploration of Unsteady Flows in Virtual Environments
Schirski, M. / Gerndt, A. / Reimersdahl, T. van / Kuhlen, T. / Adomeit, P. / Lang, O. / Pischinger, S. / Bischof, C. et al. | 2003
79
Towards a general concept for distributed visualisation of simulations in Virtual Reality environments
J.Metze / Neidhold, B. / Wacker, M. et al. | 2005
81
Using Teleporting, Awareness and Multiple Views to Improve Teamwork in Collaborative Virtual Environments
Dodds, Trevor J. / Ruddle, Roy A. et al. | 2008
87
The Virtual Showcase as a new Platform for Augmented Reality Digital Storytelling ve
Bimber, Oliver / Encarnação, L. Miguel / Schmalstieg, Dieter et al. | 2003
89
Tangible Interaction for 3D Widget Manipulation in Virtual Environments
Kruszynski, Krzysztof J. / Liere, Robert van et al. | 2008
91
Dynamic Bounding Volume Hierarchies for Occlusion Culling
Kovalcík, Vít / Tobola, Petr et al. | 2005
97
Effect of the Size of the Field of View on the Perceived Amplitude of Rotations of the Visual Scene
Ogier, Maelle / Bülthoff, Heinrich H. / Bresciani, Jean-Pierre et al. | 2008
97
Immersive VR Decision Training: Telling Interactive Stories Featuring Advanced Virtual Human Simulation Technologies
Ponder, Michal / Herbelin, Bruno / Molet, Tom / Schertenlieb, Sebastien / Ulicny, Branislav / Papagiannakis, George / Magnenat-Thalmann, Nadia / Thalmann, Daniel et al. | 2003
97
Modeling of Trees with 3D Gestures and Growth Simulation
Murakami, N. / Onishi, K. / Kitamura, Y. / Kishino, F. et al. | 2005
103
Display Devices for Virtual Environments: Impact on Performance, Workload, and Simulator Sickness
Conradi, Jessica / Alexander, Thomas et al. | 2008
105
Real-time Deformation of Detailed Geometry Based on Mappings to a Less Detailed Physical Simulation on the GPU
Mosegaard, J. / Sørensen, T. S. et al. | 2005
107
Automated Testing of Virtual Reality Application Interfaces
Bierbaum, Allen / Hartling, Patrick / Cruz-Neira, Carolina et al. | 2003
111
The Influence of Head Tracking and Stereo on User Performance with Non-Isomorphic 3D Rotation
Jr., Joseph J. LaViola / Forsberg, Andrew S. / Huffman, John / Bragdon, Andrew et al. | 2008
113
Augmented Reality Interaction for Semiautomatic Volume Classification
Río, A. del / Fischer, J. / Köbele, M. / Bartz, D. / Straßer, W. et al. | 2005
115
The Metaverse - A networked collection of inexpensive, self-configuring, immersive environments
Jaynes, C. / Seales, W. B. / Calvert, K. / Fei, Z. / Griffioen, J. et al. | 2003
119
Spotlight Interest Management for Distributed Virtual Environments
Dunwell, Ian / Whelan, John C. et al. | 2008
121
Feature Tracking in VR for Cumulus Cloud Life-Cycle Studies
Griffith, E. J. / Post, F. H. / Koutek, M. / Heus, T. / Jonker, H. J. J. et al. | 2005
125
The blue-c Distributed Scene Graph
Naef, Martin / Lamboray, Edouard / Staadt, Oliver / Gross, Markus et al. | 2003
129
Distributed Software-Based Volume Visualization in a Virtual Environment
Fuhrmann, A. L. / Splechtna, R. C. / Mroz, L. / Hauser, H. et al. | 2005
135
Immersive Sound Field Simulation in Multi-screen Projection Displays
Ogi, T. / Kayahara, T. / Kato, M. / Asayama, H. / Hirose, M. et al. | 2003
141
Language Learning in Virtual Environments: Bobo and Apples
Holmen, H. / Nielsen, F. et al. | 2005
143
An Innovative Design Approach to Build Virtual Environment Systems
Oliveira, M. / Crowcroft, J. / Slater, M. et al. | 2003
147
Interacting with Molecular Structures: User Performance versus System Complexity
Liere, R. van / Martens, J.-B. O. S. / Kok, A. J. F. / Tienen, M. H. A. V. van et al. | 2005
153
Detecting Dynamic Occlusion in front of Static Backgrounds for AR Scenes
Fischer, Jan / Regenbrecht, Holger / Baratoff, Gregory et al. | 2003
157
Attribute Correlations between Haptic and Auditory Modalities
Baird, Bridget / Izmirli, Özgür / Heacock, Bradford / Blevins, Donald et al. | 2005
163
Virtual Pockets in Virtual Reality
Ilmonen, Tommi / Reunanen, Markku et al. | 2005
163
Fast Approximate Visible Set Determination for Point Sample Clouds
Mantler, Stephan / Fuhrmann, Anton L. et al. | 2003
169
A Panoramic Walkthrough System with Occlusion Culling
Yang, Lining / Crawfis, Roger et al. | 2003
171
Evaluation of Collaborative Construction in Mixed Reality
Boschker, Breght R. / Mulder, Jurriaan D. et al. | 2005
179
A vision-based head tracking system for fully immersive displays
Hogue, A. / Robinson, M. / Jenkin, M. R. / Allison, R. S. et al. | 2003
181
Pseudo-Physical Interaction with a Virtual Car Interior in Immersive Environments
Moehring, Mathias / Froehlich, Bernd et al. | 2005
189
A Testbed for Studying and Choosing Predictive Tracking Algorithms in Virtual Environments
Jr., Joseph J. LaViola et al. | 2003
191
Tangible 3D: Hand Gesture Interaction for Immersive 3D Modeling
Kim, Hyosun / Albuquerque, Georgia / Havemann, Sven / Fellner, Dieter W. et al. | 2005
199
Double Exponential Smoothing: An Alternative to Kalman Filter-Based Predictive Tracking
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201
IntenSelect: Using Dynamic Object Rating for Assisting 3D Object Selection
Haan, Gerwin de / Koutek, Michal / Post, Frits H. et al. | 2005
207
Search Space Reduction in Optical Tracking
Liere, Robert van / Rhijn, Arjen van et al. | 2003
211
Reducing Fragmentation in Telecollaboration by Using IPT Interfaces
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215
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217
Experience of a Hybrid Information Space between an Outdoor Field and an Immersive Virtual World
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219
Applications of Augmented Reality for Maintenance Training
Weng, Dongdong / Wang, Yongtian / Liu, Yue et al. | 2005
221
Enhanced Hand Manipulation for Efficient and Precise Positioning and Release
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223
Towards Better Quality in Virtual Environments
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225
PHANToM Haptic Device Implemented in a Projection Screen Virtual Environment
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225
Colosseum3D Authoring framework for Virtual Environments
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231
Haptic Rendering of Complex Force Fields
Krenek, Ales et al. | 2003
241
Haptic Rendering Techniques for the Interactive Exploration of CFD Datasets in Virtual Environments
Reimersdahl, T. van / Bley, F. / Kuhlen, T. / Bischof, C.H. et al. | 2003
247
A Comprehensive Calibration and Registration Procedure for the Visual HapticWorkbench
Ikits, Milan / Hansen, Charles D. / Johnson, Christopher R. et al. | 2003
255
Softgenlock: Active Stereo and GenLock for PC Cluster
Allard, Jérémie / Gouranton, Valérie / Lamarque, Guy / Melin, Emmanuel / Raffin, Bruno et al. | 2003
261
A Survey and Performance Analysis of Software Platforms for Interactive Cluster-Based Multi-Screen Rendering
Staadt, Oliver G. / Walker, Justin / Nuber, Christof / Hamann, Bernd et al. | 2003
271
Color Consistency for Digital Multi-Projector Stereo Display Systems : The HEyeWall and The Digital CAVE
Kresse, W. / Reiners, D. / Knöpfle, C. et al. | 2003
281
Seamless Multi-Projector Display on Curved Screens
Baar, Jeroen van / Willwacher, Thomas / Rao, Srinivas / Raskar, Ramesh et al. | 2003
287
Extending the Working Volume of Projection-based Mixed Reality Systems
Splechtna, R.C. / Fuhrmann, A.L. et al. | 2003
293
Color Gamut Matching for Tiled DisplayWalls
Wallace, Grant / Chen, Han / Li, Kai et al. | 2003
303
Sensing Surfaces - Bringing the Desktop into Virtual Environments
Bues, Matthias / Blach, Roland / Haselberger, Frank et al. | 2003
305
Interacting with real time simulations - virtual reality in industry applications
Jönsson, A. / Bathelt, J. / Broman, G. et al. | 2003
307
Comparative Visualization of FEM-Based Cutting Simulations in a Virtual Environment
Klocke, Fritz / Straube, Andreas M. et al. | 2003
309
Architecture of the virtual training system for buoyancy control
Korosec, Dean / Slavinec, Mitja / Bernad, Dani / Kolaric, Primoz / Prnaver, Katja et al. | 2003
311
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Leibl, P. et al. | 2003
313
Gearbox Widget for Fine Adjustments by Hand Motion
OSAWA, Noritaka / REN, Xiangshi et al. | 2003
315
CAD/CAE visualization in virtual environment for automotive industry
Paillot, D. / Merienne, F. / Thivent, S. et al. | 2003
317
3D input devices and interaction concepts for optical tracking in immersive environments
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319
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Stern, Ch. / Noser, H. / Weissmann, J. / Stucki, P. et al. | 2003
321
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