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Tele-presence System using Homography-based Camera Tracking Method  

Kim, Tae-Hyub (Dept. of Imaging Science and Arts, GSAIM, Chung-Ang University)
Choi, Yoon-Seok (Dept. of Imaging Science and Arts, GSAIM, Chung-Ang University)
Nam, Bo-Dam (Dept. of Imaging Science and Arts, GSAIM, Chung-Ang University)
Hong, Hyun-Ki (Dept. of Imaging Science and Arts, GSAIM, Chung-Ang University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea CI / v.49, no.3, 2012 , pp. 27-33 More about this Journal
Abstract
Tele-presence and tele-operation techniques are used to build up an immersive scene and control environment for the distant user. This paper presents a novel tele-presence system using the camera tracking based on planar homography. In the first step, the user wears the HMD(head mounted display) with the camera and his/her head motion is estimated. From the panoramic image by the omni-directional camera mounted on the mobile robot, a viewing image by the user is generated and displayed through HMD. The homography of 3D plane with markers is used to obtain the head motion of the user. For the performance evaluation, the camera tracking results by ARToolkit and the homography based method are compared with the really measured positions of the camera.
Keywords
Tele-presence; mobile robot; HMD; omni-directional camera; homography;
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