1. Optical3D ´05, Gerhard Schall Gerhard Schall, Joseph Newman, Fritz Fraundorfer and Dieter Schmalstieg Construction and Maintenance of Augmented Reality Environments using a Mixture of Autonomous and Manual Surveying Techniques

2. Optical3D ´05, Gerhard Schall Introduction and Motivation Location aware Augmented Reality (AR) applications need –tracking –accurate 3D model of environment 3D model creation: –manually –automatically

3. Optical3D ´05, Gerhard Schall Experiments - Autonomous measurement of fiducial markers Aim: create a map of deployed fiducial markers automatically Robot (PeopleBot) equipped with - laser range finder (Sick LMS 200) - 2 MP digital camera with wide-angle lense

4. Optical3D ´05, Gerhard Schall Experiments – Marker detection Detect markers in the image – Maximally-Stable-Extremal-Regions algorithm

5. Optical3D ´05, Gerhard Schall Experiments – Marker Reconstruction 3D reconstruction of detected markers Shape-From-Motion approach Transform single reconstructions into a global coordinate system

6. Optical3D ´05, Gerhard Schall Automated model surveyed by the Robot

7. Optical3D ´05, Gerhard Schall Manual model surveyed with Total Station Walls Portals, Windows Floors, Ceilings Markers Legend:

8. Optical3D ´05, Gerhard Schall Surveying strategy Spatial relationships represented by a graph Hybrid measurements Manual measurements with Total Station Automated measurements with Robot Transformation matrices

9. Optical3D ´05, Gerhard Schall Conclusions Approach for automatically survey an environment by an autonomous robot Hybrid survey approach –Manually with Total station –Automatically by the Robot Maintainable 3D models for AR applications

10. Optical3D ´05, Gerhard Schall Thanks for listening!