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High-fidelity visuo-haptic interaction with virtual objects in multi-modal AR systems

G. Bianchi, C. Jung, B. Knörlein, M. Harders and G. Székely
ISMAR 2006
Santa Barbara, CA, October 2006


The driving force of our research is the precise combination of real and - possibly indistinguishable - virtual interactive objects in an augmented reality environment. This requires an interactive, multimodal simulation, as well as stable and accurate overlay of the computer-generated objects. This paper describes several methods to improve accuracy and stability of our hybrid augmented reality system. In a comparison of two approaches to hybrid head pose refinement, we show the superior performance of Quasi-Newton optimization for image space error minimization. Moreover, a 3D landmark refinement step is proposed, which significantly improves robustness of the overlay process. The enhanced system is demonstrated in an interactive AR environment, which provides accurate haptic feedback from real and virtual deformable objects. Finally, the effect of landmark occlusion on tracking stability during user interaction is also analyzed.

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  author = { G. Bianchi and C. Jung and B. Kn\"orlein and M. Harders and G. Székely},
  title = {High-fidelity visuo-haptic interaction with virtual objects in multi-modal AR systems},
  booktitle = {ISMAR 2006},
  year = {2006},
  month = {October},
  keywords = {hybrid augmented reality, image and object space error, vision-based refinement, haptic interaction}