Precise co-location of haptic devices in visuo-haptic augmented reality

Visuo-Haptic Augmented Reality (VHAR) systems enable users to see and touch digital information that is embedded in the real world with the help of sensors that acquire information about the environment and displays that augment the environment with computer-generated visual and haptic stimuli. An important goal of VHAR research is to build systems with low latency and minimal registration errors between vision and touch to improve realism and user performance. Applications that include fine-motor manipulation in domains such as medical procedures, training, assembly planning, or rapid prototyping benefit most from co-located VHAR user interfaces. This thesis presents a solution for precisely co-locating haptic feedback in AR, including a complete procedure for calibrating the temporal and spatial relations between all devices and a flexible framework for developing and evaluating VHAR applications. Thesis (PhD(Computer and Information Science))--University of South Australia, 2016. Includes bibliographical references (pages 125-137)