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Creating Mixed Reality applications poses distinct challenges for development and design. One of the challenges is designing Mixed Reality application-specifc experiences in the wild. In this paper, we present a structured refection approach to revisit projects from the past. In applying this structured refection to the data collected during a nine-month industrial project, we unveiled the Virtuality-Reality Clash. To generate a sufcient data corpus, we structurally analysed git commits, tickets, emails, handwritten notes, and weekly snapshots of the 3D designs. The clash could be narrowed down in our data corpus to the situations in which we were fusing the real environment with the virtual content. Finally, we could fnd fve design patterns for MR experience. With these patterns, we aim to help developers and designers of MR applications identify situations where Virtuality and Reality clash and propose approaches to address them., Part of ISBN 9798400705830QC 20240827

In augmented virtuality which virtualizes real objects to construct a mixed reality environment, it is important to estimate object surface reflectance properties to render objects under arbitrary illumination conditions. The authors developed a method to estimate reflectance properties of object surfaces densely However, it was difficult to estimate surface reflectance properties faithfully for objects with interreflections. This paper describes a new method of densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder The proposed method first determines positions of light to take color images for discriminating diffuse and specular reflection components of surface reflection. Then, surface reflectance parameters are estimated based on radiosity. Experiments show the usefulness of the proposed method., ICPR 2002 : 16th International Conference on Pattern Recognition , Aug 11-15, 2002 , Quebec, Canada

In mixed reality, especially in augmented virtuality which virtualizes real objects, it is important to estimate object surface reflectance properties to render the objects under arbitrary illumination conditions. Though several methods have been explored to estimate the surface reflectance properties, it is still difficult to estimate surface reflectance parameters faithfully for complex objects which have nonuniform surface reflectance properties and exhibit interreflections. We describe a new method for densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder. Experiments show the usefulness of the proposed method., ICCV 2003 : The 9th International Conference on Computer Vision , Oct 13-16, 2003 , Nice, France

In augmented virtuality, estimating object surface reflectance properties is important when rendering objects under arbitrary illumination conditions. However, faithfully estimating surface reflectance properties is difficult for objects having interreflections. The present paper describes a new method for densely estimating the non-uniform surface reflectance properties of real objects constructed of convex and concave surfaces having diffuse and specular interreflections. The registered range and surface color texture images were obtained using a laser rangefinder. In the proposed method, the light positions are first determined in order to take color images, which are then used to discriminate diffuse and specular reflection components of surface reflection. Surface reflectance parameters are then estimated based on an inverse global illumination rendering. Experiments were conducted to reveal the usefulness of the proposed method., ICPR 2004 : 17th International Conference on Pattern Recognition , Aug 23-26, 2004 , Cambridge, UK

Beyond conventional automated tasks, autonomous robot capabilities aside to human cognitive skills are gaining importance. This comprises goods commissioning and material supply in intralogistics as well as material feeding and assembly operations in production. Deep learning-based computer vision is considered as enabler for autonomy. Currently, the effort to generate specific datasets is challenging. Adaptation of new components often also results in downtimes. The objective of this paper is to propose an augmented virtuality (AV) based RGBD data annotation and refinement method. The approach reduces required effort in initial dataset generation to enable prior system commissioning and enables dataset quality improvement up to operational readiness during ramp-up. In addition, remote fault intervention through a teleoperation interface is provided to increase operational system availability. Several components within a real-world experimental bin-picking setup serve for evaluation. The results are quantified by comparison to established annotation methods and through known evaluation metrics for pose estimation in bin-picking scenarios. The results enable to derive accurate and more time-efficient data annotation for different algorithms. The AV approach shows a noticeable reduction in required effort and timespan for annotation as well as dataset refinement.

Beyond conventional automated tasks, autonomous robot capabilities aside to human cognitive skills are gaining importance. This comprises goods commissioning and material supply in intralogistics as well as material feeding and assembly operations in production. Deep learning-based computer vision is considered as enabler for autonomy. Currently, the effort to generate specific datasets is challenging. Adaptation of new components often also results in downtimes. The objective of this paper is to propose an augmented virtuality (AV) based RGBD data annotation and refinement method. The approach reduces required effort in initial dataset generation to enable prior system commissioning and enables dataset quality improvement up to operational readiness during ramp-up. In addition, remote fault intervention through a teleoperation interface is provided to increase operational system availability. Several components within a real-world experimental bin-picking setup serve for evaluation. The results are quantified by comparison to established annotation methods and through known evaluation metrics for pose estimation in bin-picking scenarios. The results enable to derive accurate and more time-efficient data annotation for different algorithms. The AV approach shows a noticeable reduction in required effort and timespan for annotation as well as dataset refinement.

[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when performing the task. In particular, the proposed teleoperation uses augmented virtuality (i.e., a virtual world that includes non-modeled real-world data) and haptic feedback to provide the user an immersive virtual experience when remotely teleoperating the tool of the robot system to treat arbitrary regions of the workpiece surface. The method is illustrated with a car body surface treatment operation, although it can be easily extended to other surface treatment applications or even to other industrial tasks where the human operator may benefit from robotic assistance. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm. Moreover, a comparison of the performance obtained manually by an expert and that obtained with the proposed method has also been conducted in order to show the suitability of the proposed approach.

[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when performing the task. In particular, the proposed teleoperation uses augmented virtuality (i.e., a virtual world that includes non-modeled real-world data) and haptic feedback to provide the user an immersive virtual experience when remotely teleoperating the tool of the robot system to treat arbitrary regions of the workpiece surface. The method is illustrated with a car body surface treatment operation, although it can be easily extended to other surface treatment applications or even to other industrial tasks where the human operator may benefit from robotic assistance. The effectiveness of the proposed approach is shown with several experiments using a 6R robotic arm. Moreover, a comparison of the performance obtained manually by an expert and that obtained with the proposed method has also been conducted in order to show the suitability of the proposed approach.

This thesis explores the use of virtual reality as a prototyping tool for designpractitioners to utilize when designing artifacts situated in physical places.Methods used in the study are qualitative and derive from the field ofinteraction design. The topic is explored through literature review on theattributes of virtual reality and sense of place, presented in the theorychapter, and is connected to the empirical research throughout the designprocess chapter. The theories presented strongly indicate that places affecthuman behavior, making them a substantial part of the user experience wheninteracting with designed artifacts in specific locations, which is echoedthough the target audience who voice the need to prototype design conceptsin the context of place. The study culminates in two kinds of virtual realityprototypes, dubbed contextual prototypes, that are suggested to havedifferent use cases depending on what the purpose for prototyping is.

This thesis explores the use of virtual reality as a prototyping tool for designpractitioners to utilize when designing artifacts situated in physical places.Methods used in the study are qualitative and derive from the field ofinteraction design. The topic is explored through literature review on theattributes of virtual reality and sense of place, presented in the theorychapter, and is connected to the empirical research throughout the designprocess chapter. The theories presented strongly indicate that places affecthuman behavior, making them a substantial part of the user experience wheninteracting with designed artifacts in specific locations, which is echoedthough the target audience who voice the need to prototype design conceptsin the context of place. The study culminates in two kinds of virtual realityprototypes, dubbed contextual prototypes, that are suggested to havedifferent use cases depending on what the purpose for prototyping is.

[EN] With the rapid advancements in Virtual Reality and Augmented Reality in the recent years, and the focus of big companies on these technologies, it is crucial that their potential and new applications are assessed while they are still growing. This thesis summarises the evolution of Virtual Reality and Augmented Reality technologies and their applications throughout the years, and explores potential applications that have not been extensively discussed. We propose a system that mixes Virtual Reality and Augmented Reality technologies, into an Augmented Virtuality experience. A flying vehicle is being piloted in a controlled environment, which could be capturing a video feed with a mounted camera. Meanwhile, a user is immersed into a virtual copy of the real environment thanks to Virtual Reality. Augmented Reality technologies can use the video feed from the real environment to augment the virtual environment in real time with predetermined objects. The system is divided in three modules: a simulation module made in Unity3D, which supports the virtual environment and Virtual Reality. A drone tracking module, which tracks a drone using OptiTrack marker-based motion capture. Finally, an object tracking module, which tracks objects from a simulated video feed with model-based markerless tracking technique based on ORB and PnP. Integration of the different modules was successful, and the final application is able to augment the Unity environment in real time by tracking the drone and placing it in a virtual version of the environment, and placing tracked objects correctly in the environment. An intuitive control scheme, extensible system and customizable framework were built. The result is an intuitive interface for spatial navigation, which could be extended to accept multiple sources, thermal/IR information, or even generating the environment dynamically with SLAM., [ES] Con los rápidos avances en Realidad Virtual y Realidad Aumentada en los últimos años, y el enfoque de las grandes compañías en estas tecnologías, es crucial que su potencial y sus nuevas aplicaciones se evalúen mientras todavía están creciendo. Este trabajo resume la evolución de las tecnologías de Realidad Virtual y Realidad Aumentada y sus aplicaciones a lo largo de los años, y explora aplicaciones potenciales que no se han discutido ampliamente. Proponemos un sistema que combina las tecnologías de Realidad Virtual y Realidad Aumentada, en una experiencia de Virtualidad Aumentada. Se pilotará un vehículo volador en un entorno controlado, que podría estar capturando video con una cámara montada. Mientras tanto, un usuario está inmerso en una copia virtual del entorno real gracias a la Realidad Virtual. Las tecnologías de realidad aumentada pueden usar la transmisión de video desde el entorno real para aumentar el entorno virtual en tiempo real con objetos predeterminados. El sistema se divide en tres módulos: un módulo de simulación creado en Unity3D, que se encarga del entorno virtual y la realidad virtual. Un módulo de seguimiento de drones, que rastrea un dron usando la captura de movimiento basada en el marcador OptiTrack. Finalmente, un módulo de seguimiento de objetos, que rastrea objetos de un video con una técnica de seguimiento sin marcadores con modelo, basada en ORB y PnP. La integración de los diferentes módulos fue exitosa, y la aplicación final puede aumentar el entorno de Unity en tiempo real al rastrear el dron y colocarlo en una versión virtual del entorno, y ubicar los objetos rastreados correctamente en el entorno. Se diseñó un esquema de controles intuitivo, un sistema extensible y un entorno de trabajo personalizable. El resultado es una interfaz intuitiva para la navegación espacial, que podría ampliarse para aceptar múltiples fuentes, información térmica / IR o incluso generar el entorno dinámicamente con SLAM.

[EN] With the rapid advancements in Virtual Reality and Augmented Reality in the recent years, and the focus of big companies on these technologies, it is crucial that their potential and new applications are assessed while they are still growing. This thesis summarises the evolution of Virtual Reality and Augmented Reality technologies and their applications throughout the years, and explores potential applications that have not been extensively discussed. We propose a system that mixes Virtual Reality and Augmented Reality technologies, into an Augmented Virtuality experience. A flying vehicle is being piloted in a controlled environment, which could be capturing a video feed with a mounted camera. Meanwhile, a user is immersed into a virtual copy of the real environment thanks to Virtual Reality. Augmented Reality technologies can use the video feed from the real environment to augment the virtual environment in real time with predetermined objects. The system is divided in three modules: a simulation module made in Unity3D, which supports the virtual environment and Virtual Reality. A drone tracking module, which tracks a drone using OptiTrack marker-based motion capture. Finally, an object tracking module, which tracks objects from a simulated video feed with model-based markerless tracking technique based on ORB and PnP. Integration of the different modules was successful, and the final application is able to augment the Unity environment in real time by tracking the drone and placing it in a virtual version of the environment, and placing tracked objects correctly in the environment. An intuitive control scheme, extensible system and customizable framework were built. The result is an intuitive interface for spatial navigation, which could be extended to accept multiple sources, thermal/IR information, or even generating the environment dynamically with SLAM., [ES] Con los rápidos avances en Realidad Virtual y Realidad Aumentada en los últimos años, y el enfoque de las grandes compañías en estas tecnologías, es crucial que su potencial y sus nuevas aplicaciones se evalúen mientras todavía están creciendo. Este trabajo resume la evolución de las tecnologías de Realidad Virtual y Realidad Aumentada y sus aplicaciones a lo largo de los años, y explora aplicaciones potenciales que no se han discutido ampliamente. Proponemos un sistema que combina las tecnologías de Realidad Virtual y Realidad Aumentada, en una experiencia de Virtualidad Aumentada. Se pilotará un vehículo volador en un entorno controlado, que podría estar capturando video con una cámara montada. Mientras tanto, un usuario está inmerso en una copia virtual del entorno real gracias a la Realidad Virtual. Las tecnologías de realidad aumentada pueden usar la transmisión de video desde el entorno real para aumentar el entorno virtual en tiempo real con objetos predeterminados. El sistema se divide en tres módulos: un módulo de simulación creado en Unity3D, que se encarga del entorno virtual y la realidad virtual. Un módulo de seguimiento de drones, que rastrea un dron usando la captura de movimiento basada en el marcador OptiTrack. Finalmente, un módulo de seguimiento de objetos, que rastrea objetos de un video con una técnica de seguimiento sin marcadores con modelo, basada en ORB y PnP. La integración de los diferentes módulos fue exitosa, y la aplicación final puede aumentar el entorno de Unity en tiempo real al rastrear el dron y colocarlo en una versión virtual del entorno, y ubicar los objetos rastreados correctamente en el entorno. Se diseñó un esquema de controles intuitivo, un sistema extensible y un entorno de trabajo personalizable. El resultado es una interfaz intuitiva para la navegación espacial, que podría ampliarse para aceptar múltiples fuentes, información térmica / IR o incluso generar el entorno dinámicamente con SLAM.

This project is an examination of the possibility of using existing software to develop Virtual Reality (VR) software that includes key aspects of objects in a user’s surroundings into a virtual environment, producing Augmented Virtuality (AV). A defining limitation is the requirement that the software be consumer-accessible, meaning it needs run on a common smartphone with no additional equipment. Two related AV concepts were considered: shape reconstruction and positional tracking. Two categories of techniques were considered for taking the measurements of reality necessary to achieve those AV concepts using only a monocular RGB camera as sensor: monocular visual SLAM (mvSLAM) and Structure from Motion (SfM). Two lists of requirements were constructed, formalising the notions of AV and consumer-accessibility. A search process was then conducted, where existing software packages were evaluated for their suitability to be included in a piece of software fulfilling all requirements. The evaluations of SfM systems were made in combination with Multi-View Stereo (MVS) systems – a necessary complement for achieving visible shape reconstruction using a system that outputs point clouds. After thoroughly evaluating a variety of software, it was concluded that consumer-accessible AV can not currently be achieved by combining existing packages, due to several issues. While future hardware performance increases and new software implementations would solve complexity and availability issues, some inaccuracy and usability issues are inherent to the limitation of using a monocular camera., Detta projekt är en undersökning av möjligheten att använda befintlig programvara till att utveckla Virtual Reality (VR)-programvara som infogar framstående aspekter av objekt från en användares omgivning in i en virtuell miljö och därmed skapar Augmented Virtuality (AV). En definierande begränsning är kravet på att programvaran skall vara konsumenttillgänglig, vilket innebär att den behöver kunna köras på en vanlig smartphone utan extra utrustning. Två besläktade AV-koncept beaktades: formrekonstruktion och positionsspårning. Två kategorier av tekniker togs i beaktande, vilka kunde användas för att göra de uppmätningar av verkligheten som var nödvändiga för att uppnå de tänkta AV-koncepten med hjälp av endast en monokulär RGB-kamera som sensor: monocular visual SLAM (mvSLAM) och Structure from Motion (SfM). Två listor med kriterier konstruerades, vilka formaliserade begreppen AV och konsumenttillgänglighet. En sökprocess utfördes sedan, där befintliga programvarupaket utvärderades för sin lämplighet att inkluderas i en programvara som uppfyllde alla kriterier. Utvärderingarna av SfM-system gjordes i kombination med Multi-View Stereo (MVS)-system – ett nödvändigt komplement för att uppnå synlig formrekonstruktion med ett system vars utdata är punktmoln. Efter att noggrant ha utvärderat en mängd programvara var slutsatsen att konsumenttillgänglig AV inte för närvarande kan uppnås genom att kombinera befintliga programvarupaket, på grund av ett antal olika problem. Medan framtida prestandaökningar hos maskinvara och nya programvarutillämpningar skulle lösa problem med komplexitet och tillgänglighet, är vissa problem med tillförlitlighet och användbarhet inneboende hos begränsningen till att använda en monokulär kamera.

This project is an examination of the possibility of using existing software to develop Virtual Reality (VR) software that includes key aspects of objects in a user’s surroundings into a virtual environment, producing Augmented Virtuality (AV). A defining limitation is the requirement that the software be consumer-accessible, meaning it needs run on a common smartphone with no additional equipment. Two related AV concepts were considered: shape reconstruction and positional tracking. Two categories of techniques were considered for taking the measurements of reality necessary to achieve those AV concepts using only a monocular RGB camera as sensor: monocular visual SLAM (mvSLAM) and Structure from Motion (SfM). Two lists of requirements were constructed, formalising the notions of AV and consumer-accessibility. A search process was then conducted, where existing software packages were evaluated for their suitability to be included in a piece of software fulfilling all requirements. The evaluations of SfM systems were made in combination with Multi-View Stereo (MVS) systems – a necessary complement for achieving visible shape reconstruction using a system that outputs point clouds. After thoroughly evaluating a variety of software, it was concluded that consumer-accessible AV can not currently be achieved by combining existing packages, due to several issues. While future hardware performance increases and new software implementations would solve complexity and availability issues, some inaccuracy and usability issues are inherent to the limitation of using a monocular camera., Detta projekt är en undersökning av möjligheten att använda befintlig programvara till att utveckla Virtual Reality (VR)-programvara som infogar framstående aspekter av objekt från en användares omgivning in i en virtuell miljö och därmed skapar Augmented Virtuality (AV). En definierande begränsning är kravet på att programvaran skall vara konsumenttillgänglig, vilket innebär att den behöver kunna köras på en vanlig smartphone utan extra utrustning. Två besläktade AV-koncept beaktades: formrekonstruktion och positionsspårning. Två kategorier av tekniker togs i beaktande, vilka kunde användas för att göra de uppmätningar av verkligheten som var nödvändiga för att uppnå de tänkta AV-koncepten med hjälp av endast en monokulär RGB-kamera som sensor: monocular visual SLAM (mvSLAM) och Structure from Motion (SfM). Två listor med kriterier konstruerades, vilka formaliserade begreppen AV och konsumenttillgänglighet. En sökprocess utfördes sedan, där befintliga programvarupaket utvärderades för sin lämplighet att inkluderas i en programvara som uppfyllde alla kriterier. Utvärderingarna av SfM-system gjordes i kombination med Multi-View Stereo (MVS)-system – ett nödvändigt komplement för att uppnå synlig formrekonstruktion med ett system vars utdata är punktmoln. Efter att noggrant ha utvärderat en mängd programvara var slutsatsen att konsumenttillgänglig AV inte för närvarande kan uppnås genom att kombinera befintliga programvarupaket, på grund av ett antal olika problem. Medan framtida prestandaökningar hos maskinvara och nya programvarutillämpningar skulle lösa problem med komplexitet och tillgänglighet, är vissa problem med tillförlitlighet och användbarhet inneboende hos begränsningen till att använda en monokulär kamera.

Three-dimensional literature is a virtually non-existent or in any case very rare and emergent digital art form, defined by the author as a unit of text, which is not confined to the two-dimensional layout of print literature, but instead mediated across all three axes of a virtual space. In collaboration with two artists the author explores through a bodystorming workshop how writers and readers could create and experience three-dimensional literature in mixed reality, by using mobile devices that are equipped with motion sensors, which enable users to perform embodied interactions as an integral part of the literary experience.For documenting the workshop, the author used body-mounted action cameras in order to record the point-of-view of the participants. This choice turned out to generate promising knowledge on using point-of-view footage as an integral part of the methodological approach. The author has found that by engaging creatively with such footage, the designer gains a profound understanding and vivid memory of complex design activities.As the outcome the various design activities, the author developed a concept for an app called TEXTILE. It enables users to build three-dimensional texts by positioning words in a virtual bubble of space around the user and to share them, either on an online platform or at site-specific places. A key finding of this thesis is that the creation of three-dimensional literature on a platform such as TEXTILE is not just an act of writing – it is an act of sculpture and an act of social performance.

Three-dimensional literature is a virtually non-existent or in any case very rare and emergent digital art form, defined by the author as a unit of text, which is not confined to the two-dimensional layout of print literature, but instead mediated across all three axes of a virtual space. In collaboration with two artists the author explores through a bodystorming workshop how writers and readers could create and experience three-dimensional literature in mixed reality, by using mobile devices that are equipped with motion sensors, which enable users to perform embodied interactions as an integral part of the literary experience.For documenting the workshop, the author used body-mounted action cameras in order to record the point-of-view of the participants. This choice turned out to generate promising knowledge on using point-of-view footage as an integral part of the methodological approach. The author has found that by engaging creatively with such footage, the designer gains a profound understanding and vivid memory of complex design activities.As the outcome the various design activities, the author developed a concept for an app called TEXTILE. It enables users to build three-dimensional texts by positioning words in a virtual bubble of space around the user and to share them, either on an online platform or at site-specific places. A key finding of this thesis is that the creation of three-dimensional literature on a platform such as TEXTILE is not just an act of writing – it is an act of sculpture and an act of social performance.

The capabilities of applying smart information management systems for facility management (FM) in oil refining context have not yet been fully exploited. This paper presents a study that investigates the applicability of integrating advanced technologies such as augmented virtuality (AV), augmented reality (AR), and server-sustained information modeling (IM) in facilitating FM activities for a petroleum refinery. The paper starts with a thorough review on previouswork in which multiple information processing technologies are applied to aid FM. The following section presents the conceivable merits when the novel visualization is formulatedto enhance the conventional IM application. It then proposes a novel system framework based on technological feasibility and further describes the development of a system prototype thatboosts immersive and interactive experiences to FM toward a multitude of electrical components. It is noted that this paper focuses on the method for the technological realization of thesystem. With the successful development of the system, it is able to deal with the management of complex information flows, support the users’ navigation in geo-coordinates, andenables a succinct smart IM interface with switchable AV/AR scenes. In view that IM has been proved suitable in supporting real-time communication and information management whileAV/AR can be effectively used to improve the way how information is exhibited into real workspaces, the system proves the concept of IM+AV/AR in the context of FM in arefinery. Future work will be conducted on the evaluation of system effectiveness and system optimization, with the aim of functional improvement and performing a feasibility study.

This thesis addresses the subject of converging real and virtual environments to a combined entity that can facilitate physiologically complying interfaces for the purpose of training. Based on the mobility and physiological demands of dismounted soldiers, the base assumption is that greater immersion means better learning and potentially higher training transfer. As the user can interface with the system in a natural way, more focus and energy can be used for training rather than for control itself. Identified requirements on a simulator relating to physical and psychological user aspects are support for unobtrusive and wireless use, high field of view, high performance tracking, use of authentic tools, ability to see other trainees, unrestricted movement and physical feedback. Using only commercially available systems would be prohibitively expensive whilst not providing a solution that would be fully optimized for the target group for this simulator. For this reason, most of the systems that compose the simulator are custom made to facilitate physiological human aspects as well as to bring down costs. With the use of chroma keying, a cylindrical simulator room and parallax corrected high field of view video see-though head mounted displays, the real and virtual reality are mixed. This facilitates use of real tool as well as layering and manipulation of real and virtual objects. Furthermore, a novel omnidirectional floor and thereto interface scheme is developed to allow limitless physical walking to be used for virtual translation. A physically confined real space is thereby transformed into an infinite converged environment. The omnidirectional floor regulation algorithm can also provide physical feedback through adjustment of the velocity in order to synchronize virtual obstacles with the surrounding simulator walls. As an alternative simulator target use, an omnidirectional robotic platform has been developed that can match the user movements. This can be util

The present paper describes the initial results of the research “Integrated informative models to identify, appreciate and share urban and environmental heritage. Testing 3D interfaces for "cultural and geographic objects": architecture of information and computerized architecture”. The main purpose of this research is to expand the concept of "integrated informative models" by studying integrations and overlaps from different environments, taking into consideration both geographical (3D GIS) and web (3D Web and 3D WebGIS) space as well as Virtual Reality (VR) and Augmented Reality (AR). The research aims at identifying technological, procedural and operational systems, structured specifically for each individual case, to define technology with easily accessible (cheap and/or open source) instruments characterized by reliable data processing. Within this framework, various experimentations have been carried out on the area we were privileged to work in, the historical centre of Ascoli Piceno, using different paths/measuring scales and following the necessary organization of data.

This thesis addresses the subject of converging real and virtual environments to a combined entity that can facilitate physiologically complying interfaces for the purpose of training. Based on the mobility and physiological demands of dismounted soldiers, the base assumption is that greater immersion means better learning and potentially higher training transfer. As the user can interface with the system in a natural way, more focus and energy can be used for training rather than for control itself. Identified requirements on a simulator relating to physical and psychological user aspects are support for unobtrusive and wireless use, high field of view, high performance tracking, use of authentic tools, ability to see other trainees, unrestricted movement and physical feedback. Using only commercially available systems would be prohibitively expensive whilst not providing a solution that would be fully optimized for the target group for this simulator. For this reason, most of the systems that compose the simulator are custom made to facilitate physiological human aspects as well as to bring down costs. With the use of chroma keying, a cylindrical simulator room and parallax corrected high field of view video see-though head mounted displays, the real and virtual reality are mixed. This facilitates use of real tool as well as layering and manipulation of real and virtual objects. Furthermore, a novel omnidirectional floor and thereto interface scheme is developed to allow limitless physical walking to be used for virtual translation. A physically confined real space is thereby transformed into an infinite converged environment. The omnidirectional floor regulation algorithm can also provide physical feedback through adjustment of the velocity in order to synchronize virtual obstacles with the surrounding simulator walls. As an alternative simulator target use, an omnidirectional robotic platform has been developed that can match the user movements. This can be util

This thesis addresses the subject of converging real and virtual environments to a combined entity that can facilitate physiologically complying interfaces for the purpose of training. Based on the mobility and physiological demands of dismounted soldiers, the base assumption is that greater immersion means better learning and potentially higher training transfer. As the user can interface with the system in a natural way, more focus and energy can be used for training rather than for control itself. Identified requirements on a simulator relating to physical and psychological user aspects are support for unobtrusive and wireless use, high field of view, high performance tracking, use of authentic tools, ability to see other trainees, unrestricted movement and physical feedback. Using only commercially available systems would be prohibitively expensive whilst not providing a solution that would be fully optimized for the target group for this simulator. For this reason, most of the systems that compose the simulator are custom made to facilitate physiological human aspects as well as to bring down costs. With the use of chroma keying, a cylindrical simulator room and parallax corrected high field of view video see-though head mounted displays, the real and virtual reality are mixed. This facilitates use of real tool as well as layering and manipulation of real and virtual objects. Furthermore, a novel omnidirectional floor and thereto interface scheme is developed to allow limitless physical walking to be used for virtual translation. A physically confined real space is thereby transformed into an infinite converged environment. The omnidirectional floor regulation algorithm can also provide physical feedback through adjustment of the velocity in order to synchronize virtual obstacles with the surrounding simulator walls. As an alternative simulator target use, an omnidirectional robotic platform has been developed that can match the user movements. This can be util

This thesis addresses the subject of converging real and virtual environments to a combined entity that can facilitate physiologically complying interfaces for the purpose of training. Based on the mobility and physiological demands of dismounted soldiers, the base assumption is that greater immersion means better learning and potentially higher training transfer. As the user can interface with the system in a natural way, more focus and energy can be used for training rather than for control itself. Identified requirements on a simulator relating to physical and psychological user aspects are support for unobtrusive and wireless use, high field of view, high performance tracking, use of authentic tools, ability to see other trainees, unrestricted movement and physical feedback. Using only commercially available systems would be prohibitively expensive whilst not providing a solution that would be fully optimized for the target group for this simulator. For this reason, most of the systems that compose the simulator are custom made to facilitate physiological human aspects as well as to bring down costs. With the use of chroma keying, a cylindrical simulator room and parallax corrected high field of view video see-though head mounted displays, the real and virtual reality are mixed. This facilitates use of real tool as well as layering and manipulation of real and virtual objects. Furthermore, a novel omnidirectional floor and thereto interface scheme is developed to allow limitless physical walking to be used for virtual translation. A physically confined real space is thereby transformed into an infinite converged environment. The omnidirectional floor regulation algorithm can also provide physical feedback through adjustment of the velocity in order to synchronize virtual obstacles with the surrounding simulator walls. As an alternative simulator target use, an omnidirectional robotic platform has been developed that can match the user movements. This can be util

This paper proposes a novel low-cost robotic telepresence approach to situation awareness, initially aimed for hazardous environments. The robot supports omnidirectional movement, wide field of vision, haptic feedback and binaural sound. It is controlled through an augmented virtuality environment with an intuitive position displacement scheme that supports physical mobility. The operator thereby can conduct work away from danger whilst retaining situation awareness of the real environment.

This paper proposes a novel low-cost robotic telepresence approach to situation awareness, initially aimed for hazardous environments. The robot supports omnidirectional movement, wide field of vision, haptic feedback and binaural sound. It is controlled through an augmented virtuality environment with an intuitive position displacement scheme that supports physical mobility. The operator thereby can conduct work away from danger whilst retaining situation awareness of the real environment., The authors gratefully acknowledge the advice of Professor Sillitoe, Department of Engineering and Technology, University of Wolverhampton, U.K., in the preparation of this paper.

This paper proposes a novel low-cost robotic telepresence approach to situation awareness, initially aimed for hazardous environments. The robot supports omnidirectional movement, wide field of vision, haptic feedback and binaural sound. It is controlled through an augmented virtuality environment with an intuitive position displacement scheme that supports physical mobility. The operator thereby can conduct work away from danger whilst retaining situation awareness of the real environment.

http://library.naist.jp/mylimedio/dllimedio/show.cgi?bookid=100045201&oldid=83930

The Technology Transfer project employs a spiral development process to enhance the functionality and autonomy of mobile systems in the Joint Robotics Program (JRP) Robotic Systems Pool (RSP). The approach is to harvest prior and on-going developments that address the technology needs identified by emergent in-theatre requirements and users of the RSP. The component technologies are evaluated on a transition platform to identify the best features of the different approaches which are then integrated and optimized to work in harmony in a complete solution. The result is an enabling mechanism that continuously capitalizes on state-of-the-art results from the research environment to create a standardized solution that can be easily transitioned to ongoing development programs. This paper focuses on particular research areas, specifically collision avoidance, simultaneous localization and mapping (SLAM), and target-following and describes the results of their combined integration and optimization over the past 12 months., The original document contains color images. Prepared in cooperation with the Idaho National Lab.

Augmented Virtuality can be effective in the analysis of physics-based computational simulations. By providing context and additional detail not always available in purely virtual systems, the effective addition of physical objects into a virtual scene greatly enhances the intuitive objective of the original calculation. The U.S. Army Research Laboratory has developed an Augmented Virtuality system for the investigation of physics-based simulations. Constructed from commodity components, unique projection screen material, and custom software, this system provides a novel approach to the investigation of results from a multitude of computational areas., The original document contains color images.

In augmented virtuality, estimating object surface reflectance properties is important when rendering objects under arbitrary illumination conditions. However, faithfully estimating surface reflectance properties is difficult for objects having interreflections. The present paper describes a new method for densely estimating the non-uniform surface reflectance properties of real objects constructed of convex and concave surfaces having diffuse and specular interreflections. The registered range and surface color texture images were obtained using a laser rangefinder. In the proposed method, the light positions are first determined in order to take color images, which are then used to discriminate diffuse and specular reflection components of surface reflection. Surface reflectance parameters are then estimated based on an inverse global illumination rendering. Experiments were conducted to reveal the usefulness of the proposed method.

In augmented virtuality, estimating object surface reflectance properties is important when rendering objects under arbitrary illumination conditions. However, faithfully estimating surface reflectance properties is difficult for objects having interreflections. The present paper describes a new method for densely estimating the non-uniform surface reflectance properties of real objects constructed of convex and concave surfaces having diffuse and specular interreflections. The registered range and surface color texture images were obtained using a laser rangefinder. In the proposed method, the light positions are first determined in order to take color images, which are then used to discriminate diffuse and specular reflection components of surface reflection. Surface reflectance parameters are then estimated based on an inverse global illumination rendering. Experiments were conducted to reveal the usefulness of the proposed method., conference paper

In mixed reality, especially in augmented virtuality which virtualizes real objects, it is important to estimate object surface reflectance properties to render the objects under arbitrary illumination conditions. Though several methods have been explored to estimate the surface reflectance properties, it is still difficult to estimate surface reflectance parameters faithfully for complex objects which have nonuniform surface reflectance properties and exhibit interreflections. We describe a new method for densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder. Experiments show the usefulness of the proposed method.

In mixed reality, especially in augmented virtuality which virtualizes real objects, it is important to estimate object surface reflectance properties to render the objects under arbitrary illumination conditions. Though several methods have been explored to estimate the surface reflectance properties, it is still difficult to estimate surface reflectance parameters faithfully for complex objects which have nonuniform surface reflectance properties and exhibit interreflections. We describe a new method for densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder. Experiments show the usefulness of the proposed method., conference paper

application/pdf, In augmented virtuality which virtualizes real objects to construct a mixed reality environment, it is important to estimate object surface reflectance properties to render objects under arbitrary illumination conditions. The authors developed a method to estimate reflectance properties of object surfaces densely However, it was difficult to estimate surface reflectance properties faithfully for objects with interreflections. This paper describes a new method of densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder The proposed method first determines positions of light to take color images for discriminating diffuse and specular reflection components of surface reflection. Then, surface reflectance parameters are estimated based on radiosity. Experiments show the usefulness of the proposed method.

In augmented virtuality which virtualizes real objects to construct a mixed reality environment, it is important to estimate object surface reflectance properties to render objects under arbitrary illumination conditions. The authors developed a method to estimate reflectance properties of object surfaces densely However, it was difficult to estimate surface reflectance properties faithfully for objects with interreflections. This paper describes a new method of densely estimating nonuniform surface reflectance properties of real objects constructed of convex and concave surfaces with interreflections. We use registered range and surface color texture images obtained by a laser rangefinder The proposed method first determines positions of light to take color images for discriminating diffuse and specular reflection components of surface reflection. Then, surface reflectance parameters are estimated based on radiosity. Experiments show the usefulness of the proposed method., conference paper

Cieľom tejto práce je identifikovať problematické situácie, ktoré môžu nastať pri pilotovaní dronu a na ich základe navrhnúť prvky užívateľského rozhrania, ktoré by tieto problémy eliminovali. Navrhnuté prvky boli implementované do už existujúcej aplikácie na ovládanie dronu. Výsledné riešenie využíva technológiu rozšírenej virtuality a rozšírenej virtuality, kedy sú podporne vizualizačné prvky vkladané priamo do 3D scény a reálnych dát z dronu. V mojej práci som vytvoril systém, ktorý umožňuje pilotovi definovať záchytné body v scéne formou misie, rozširuje aplikáciu o navigačný systém k týmto bodom a pridáva do aplikácie prvky, ktoré pilotovi ukazujú smer a vzdialenosť blížiacich sa prekážok., The aim of this work is to identify problematic situations that may occur when piloting a drone and based on them design elements of the user interface that would eliminate these problems. The proposed elements were implemented in an existing drone control application. The resulting solution uses the technology of augmented virtuality and augmented reality, where supporting visualization elements are inserted directly into the 3D scene and real data from the drone. In my work, I created a system that allows the pilot to define clues in the scene in the form of a mission, extends the application with a navigation system to these points and adds to the application elements that show the pilot the direction and distance of approaching obstacles.

Cieľom tejto práce bolo preskúmať ako možno zjednodušiť orientáciu pilotov dronov v teréne pomocou orientačných bodov a vytvoriť užívateľské rozhranie, ktoré by to pilotovi efektívne umožňovalo ešte pred samotným letom. Navrhnuté riešenie bolo implementované do už existujúcej aplikácie. Moja práce rozšírila túto aplikáciu o možnosť efektívne vytvárať rôzne druhy orientačných bodov, vkladať ich do scény a následne pomocou nich vytvárať a ukladať spustiteľné misie., The goal of this work, was to find and create a solution to simplify drone pilots work in the terrain using orientation points in the terrain itself before the drone even begins its flight. A solution was put forth and implemented into an already existing application. My work further enhanceded this application with the ability to create various kinds of orientational points, ability to import these points into digital scenes, save the scenes and subsequently use them in playble missions.

Cieľom tejto práce bolo preskúmať ako možno zjednodušiť orientáciu pilotov dronov v teréne pomocou orientačných bodov a vytvoriť užívateľské rozhranie, ktoré by to pilotovi efektívne umožňovalo ešte pred samotným letom. Navrhnuté riešenie bolo implementované do už existujúcej aplikácie. Moja práce rozšírila túto aplikáciu o možnosť efektívne vytvárať rôzne druhy orientačných bodov, vkladať ich do scény a následne pomocou nich vytvárať a ukladať spustiteľné misie., The goal of this work, was to find and create a solution to simplify drone pilots work in the terrain using orientation points in the terrain itself before the drone even begins its flight. A solution was put forth and implemented into an already existing application. My work further enhanceded this application with the ability to create various kinds of orientational points, ability to import these points into digital scenes, save the scenes and subsequently use them in playble missions.

Cieľom tejto práce je identifikovať problematické situácie, ktoré môžu nastať pri pilotovaní dronu a na ich základe navrhnúť prvky užívateľského rozhrania, ktoré by tieto problémy eliminovali. Navrhnuté prvky boli implementované do už existujúcej aplikácie na ovládanie dronu. Výsledné riešenie využíva technológiu rozšírenej virtuality a rozšírenej virtuality, kedy sú podporne vizualizačné prvky vkladané priamo do 3D scény a reálnych dát z dronu. V mojej práci som vytvoril systém, ktorý umožňuje pilotovi definovať záchytné body v scéne formou misie, rozširuje aplikáciu o navigačný systém k týmto bodom a pridáva do aplikácie prvky, ktoré pilotovi ukazujú smer a vzdialenosť blížiacich sa prekážok., The aim of this work is to identify problematic situations that may occur when piloting a drone and based on them design elements of the user interface that would eliminate these problems. The proposed elements were implemented in an existing drone control application. The resulting solution uses the technology of augmented virtuality and augmented reality, where supporting visualization elements are inserted directly into the 3D scene and real data from the drone. In my work, I created a system that allows the pilot to define clues in the scene in the form of a mission, extends the application with a navigation system to these points and adds to the application elements that show the pilot the direction and distance of approaching obstacles.

Tato práce hodnotí stávající možnosti ovládání dronů, jejich úskalí a navrhuje možná řešení pro efektivnější a snadnější řízení dronů. Výsledný systém je založen na pohledu třetí osoby a technologii rozšířená virtualita, kdy jsou do virtuálního 3D modelu prostředí integrována reálná data z dronu (video-stream, lokalizační informace). Model prostředí je vytvořen s využitím volně dostupných dat. Aplikace pilotovi nabízí prostředky pro snadnější orientaci v prostředí, navigaci k cílovým místům a možnost v průběhu plánování mise definovat oblasti s různým potenciálním bezpečnostním rizikem, které budou v průběhu mise využívány k navigaci v těchto zónách a vizualizaci celkové situace ve virtuální scéně rozšířené o on-line reálná data., The thesis evaluates the current possibilities and problems of drone control and suggests possible solutions. The aim is to control drones more efficiently and easily. The final system is based on third person view and Augmented Virtuality technology where real data from the drone (video-stream, localization information) has been integrated into the virtual 3D model of the surroundings. The model of the surroundings has been created using free data. The application provides the pilot with the means to navigate in the surroundings and to navigate to destinations. It also offers the possibility to define areas with various potential security risks during mission planning, which will be used to navigate in the mission zones, and to visualize the overall situation in the virtual scene extended with online real data.

Cílem této práce je navrhnutí funkcí a uživatelského rozhraní ve VR pro velitele letky dronů tak, aby mohl rychleji a efektivněji řídit misi, které se účastní. Tyto funkce a uživatelské rozhraní jsem implementoval do již existující aplikace DroCo pro pilotování drona za využití rozšířené virtuality. Díky tomu může velitel vytvářet kamerové zkratky ve virtuálním prostředí, na které se může teleportovat nebo nahlížet na jejich náhled a tím sledovat průběh mise na různých místech. Podobné zkratky jsem přidal i na drony, aby velitel měl co možno největší přehled o všech dronech. Nakonec jsem do aplikace naimplementoval i uživatelské rozhraní, které poskytuje rychlý přehled o všech kamerách a dronech., The goal of this work is to design functions and user interface in VR for drone squadron commanders so they can faster and more effective command a drone mission. I implemented these function and user interface into already existing application DroCo for drone piloting with use of augmented virtuality. Because of this commander can create camera shortcuts in virtual environment, which can be teleported to or preview their feed and observe the course of current mission from different locations. At the end I also implemented user interface, that provides fast overview about all camera shortcuts and drones.

Cieľom tejto práce bolo preskúmať ako možno zjednodušiť orientáciu pilotov dronov v teréne pomocou orientačných bodov a vytvoriť užívateľské rozhranie, ktoré by to pilotovi efektívne umožňovalo ešte pred samotným letom. Navrhnuté riešenie bolo implementované do už existujúcej aplikácie. Moja práce rozšírila túto aplikáciu o možnosť efektívne vytvárať rôzne druhy orientačných bodov, vkladať ich do scény a následne pomocou nich vytvárať a ukladať spustiteľné misie., The goal of this work, was to find and create a solution to simplify drone pilots work in the terrain using orientation points in the terrain itself before the drone even begins its flight. A solution was put forth and implemented into an already existing application. My work further enhanceded this application with the ability to create various kinds of orientational points, ability to import these points into digital scenes, save the scenes and subsequently use them in playble missions.

Cieľom tejto práce bolo preskúmať ako možno zjednodušiť orientáciu pilotov dronov v teréne pomocou orientačných bodov a vytvoriť užívateľské rozhranie, ktoré by to pilotovi efektívne umožňovalo ešte pred samotným letom. Navrhnuté riešenie bolo implementované do už existujúcej aplikácie. Moja práce rozšírila túto aplikáciu o možnosť efektívne vytvárať rôzne druhy orientačných bodov, vkladať ich do scény a následne pomocou nich vytvárať a ukladať spustiteľné misie., The goal of this work, was to find and create a solution to simplify drone pilots work in the terrain using orientation points in the terrain itself before the drone even begins its flight. A solution was put forth and implemented into an already existing application. My work further enhanceded this application with the ability to create various kinds of orientational points, ability to import these points into digital scenes, save the scenes and subsequently use them in playble missions.

Cieľom tejto práce je identifikovať problematické situácie, ktoré môžu nastať pri pilotovaní dronu a na ich základe navrhnúť prvky užívateľského rozhrania, ktoré by tieto problémy eliminovali. Navrhnuté prvky boli implementované do už existujúcej aplikácie na ovládanie dronu. Výsledné riešenie využíva technológiu rozšírenej virtuality a rozšírenej virtuality, kedy sú podporne vizualizačné prvky vkladané priamo do 3D scény a reálnych dát z dronu. V mojej práci som vytvoril systém, ktorý umožňuje pilotovi definovať záchytné body v scéne formou misie, rozširuje aplikáciu o navigačný systém k týmto bodom a pridáva do aplikácie prvky, ktoré pilotovi ukazujú smer a vzdialenosť blížiacich sa prekážok., The aim of this work is to identify problematic situations that may occur when piloting a drone and based on them design elements of the user interface that would eliminate these problems. The proposed elements were implemented in an existing drone control application. The resulting solution uses the technology of augmented virtuality and augmented reality, where supporting visualization elements are inserted directly into the 3D scene and real data from the drone. In my work, I created a system that allows the pilot to define clues in the scene in the form of a mission, extends the application with a navigation system to these points and adds to the application elements that show the pilot the direction and distance of approaching obstacles.

Tato práce hodnotí stávající možnosti ovládání dronů, jejich úskalí a navrhuje možná řešení pro efektivnější a snadnější řízení dronů. Výsledný systém je založen na pohledu třetí osoby a technologii rozšířená virtualita, kdy jsou do virtuálního 3D modelu prostředí integrována reálná data z dronu (video-stream, lokalizační informace). Model prostředí je vytvořen s využitím volně dostupných dat. Aplikace pilotovi nabízí prostředky pro snadnější orientaci v prostředí, navigaci k cílovým místům a možnost v průběhu plánování mise definovat oblasti s různým potenciálním bezpečnostním rizikem, které budou v průběhu mise využívány k navigaci v těchto zónách a vizualizaci celkové situace ve virtuální scéně rozšířené o on-line reálná data., The thesis evaluates the current possibilities and problems of drone control and suggests possible solutions. The aim is to control drones more efficiently and easily. The final system is based on third person view and Augmented Virtuality technology where real data from the drone (video-stream, localization information) has been integrated into the virtual 3D model of the surroundings. The model of the surroundings has been created using free data. The application provides the pilot with the means to navigate in the surroundings and to navigate to destinations. It also offers the possibility to define areas with various potential security risks during mission planning, which will be used to navigate in the mission zones, and to visualize the overall situation in the virtual scene extended with online real data.

Tato práce hodnotí stávající možnosti ovládání dronů, jejich úskalí a navrhuje možná řešení pro efektivnější a snadnější řízení dronů. Výsledný systém je založen na pohledu třetí osoby a technologii rozšířená virtualita, kdy jsou do virtuálního 3D modelu prostředí integrována reálná data z dronu (video-stream, lokalizační informace). Model prostředí je vytvořen s využitím volně dostupných dat. Aplikace pilotovi nabízí prostředky pro snadnější orientaci v prostředí, navigaci k cílovým místům a možnost v průběhu plánování mise definovat oblasti s různým potenciálním bezpečnostním rizikem, které budou v průběhu mise využívány k navigaci v těchto zónách a vizualizaci celkové situace ve virtuální scéně rozšířené o on-line reálná data., The thesis evaluates the current possibilities and problems of drone control and suggests possible solutions. The aim is to control drones more efficiently and easily. The final system is based on third person view and Augmented Virtuality technology where real data from the drone (video-stream, localization information) has been integrated into the virtual 3D model of the surroundings. The model of the surroundings has been created using free data. The application provides the pilot with the means to navigate in the surroundings and to navigate to destinations. It also offers the possibility to define areas with various potential security risks during mission planning, which will be used to navigate in the mission zones, and to visualize the overall situation in the virtual scene extended with online real data.

Cílem této práce je navrhnutí funkcí a uživatelského rozhraní ve VR pro velitele letky dronů tak, aby mohl rychleji a efektivněji řídit misi, které se účastní. Tyto funkce a uživatelské rozhraní jsem implementoval do již existující aplikace DroCo pro pilotování drona za využití rozšířené virtuality. Díky tomu může velitel vytvářet kamerové zkratky ve virtuálním prostředí, na které se může teleportovat nebo nahlížet na jejich náhled a tím sledovat průběh mise na různých místech. Podobné zkratky jsem přidal i na drony, aby velitel měl co možno největší přehled o všech dronech. Nakonec jsem do aplikace naimplementoval i uživatelské rozhraní, které poskytuje rychlý přehled o všech kamerách a dronech., The goal of this work is to design functions and user interface in VR for drone squadron commanders so they can faster and more effective command a drone mission. I implemented these function and user interface into already existing application DroCo for drone piloting with use of augmented virtuality. Because of this commander can create camera shortcuts in virtual environment, which can be teleported to or preview their feed and observe the course of current mission from different locations. At the end I also implemented user interface, that provides fast overview about all camera shortcuts and drones.

Cílem této práce je navrhnutí funkcí a uživatelského rozhraní ve VR pro velitele letky dronů tak, aby mohl rychleji a efektivněji řídit misi, které se účastní. Tyto funkce a uživatelské rozhraní jsem implementoval do již existující aplikace DroCo pro pilotování drona za využití rozšířené virtuality. Díky tomu může velitel vytvářet kamerové zkratky ve virtuálním prostředí, na které se může teleportovat nebo nahlížet na jejich náhled a tím sledovat průběh mise na různých místech. Podobné zkratky jsem přidal i na drony, aby velitel měl co možno největší přehled o všech dronech. Nakonec jsem do aplikace naimplementoval i uživatelské rozhraní, které poskytuje rychlý přehled o všech kamerách a dronech., The goal of this work is to design functions and user interface in VR for drone squadron commanders so they can faster and more effective command a drone mission. I implemented these function and user interface into already existing application DroCo for drone piloting with use of augmented virtuality. Because of this commander can create camera shortcuts in virtual environment, which can be teleported to or preview their feed and observe the course of current mission from different locations. At the end I also implemented user interface, that provides fast overview about all camera shortcuts and drones.

Cieľom tejto práce je identifikovať problematické situácie, ktoré môžu nastať pri pilotovaní dronu a na ich základe navrhnúť prvky užívateľského rozhrania, ktoré by tieto problémy eliminovali. Navrhnuté prvky boli implementované do už existujúcej aplikácie na ovládanie dronu. Výsledné riešenie využíva technológiu rozšírenej virtuality a rozšírenej virtuality, kedy sú podporne vizualizačné prvky vkladané priamo do 3D scény a reálnych dát z dronu. V mojej práci som vytvoril systém, ktorý umožňuje pilotovi definovať záchytné body v scéne formou misie, rozširuje aplikáciu o navigačný systém k týmto bodom a pridáva do aplikácie prvky, ktoré pilotovi ukazujú smer a vzdialenosť blížiacich sa prekážok., The aim of this work is to identify problematic situations that may occur when piloting a drone and based on them design elements of the user interface that would eliminate these problems. The proposed elements were implemented in an existing drone control application. The resulting solution uses the technology of augmented virtuality and augmented reality, where supporting visualization elements are inserted directly into the 3D scene and real data from the drone. In my work, I created a system that allows the pilot to define clues in the scene in the form of a mission, extends the application with a navigation system to these points and adds to the application elements that show the pilot the direction and distance of approaching obstacles.