ステレオカメラを用いた頭部位置・姿勢計測とレーザレンジファインダを用いた自己位置・姿勢計測の拡張現実感への応用

Abstract

Augmented Reality(AR) allows the user to see the real world, with annotations superimposed on the real scene. Therefore, it is eectiv e to guide a user intuitive way. In this paper, we describe an application of head tracking method using a stereo camera pair and localization method using a laser range nder to AR. It is important to measure the position and the orientation of a user accurately in order to build an AR system. In our approach, the head position and orientation of the user is measured by a pair of stereo cameras, and the position of the user is estimated by a laser range nder. We conducted experiments to evaluate the usefulness of these methods for AR, and the eectiv eness was conrmed. Finally we developed an AR-based guidance system for a wheelchair using both measurement methods. An experiment to guide the user was conducted and the usability of this system was conrmed.