Automatic Environment Map Construction for Mixed Reality Robotic Applications View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2016

AUTHORS

David McFadden , Brandon Wilson , Alireza Tavakkoli , Donald Loffredo

ABSTRACT

As Virtual Reality technologies proliferate to traditional multimedia application areas, there is a need to create systemic and automated processes to establish the main building blocks of the virtual environments in support of such applications. In this paper, we propose a unified framework for procedurally creating a virtual reality replica of a remotely situated robot’s physical environment. The proposed approach utilizes only robot’s onboard camera and automatically generates the environment map for the final VR environment. The main contributions of this paper are in the hierarchical generation of the epirectangular panorama, the efficient diffuse filling of missing pixel values and the use of the developed virtual environment in improving telepresence for remote social robotics applications. More... »

PAGES

713-722

References to SciGraph publications

  • 2002-04-12. Bundle Adjustment — A Modern Synthesis in VISION ALGORITHMS: THEORY AND PRACTICE
  • 2007-08. Automatic Panoramic Image Stitching using Invariant Features in INTERNATIONAL JOURNAL OF COMPUTER VISION
  • Book

    TITLE

    Advances in Visual Computing

    ISBN

    978-3-319-50834-4
    978-3-319-50835-1

    Author Affiliations

    From Grant

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-319-50835-1_64

    DOI

    http://dx.doi.org/10.1007/978-3-319-50835-1_64

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1028330298


    Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
    Incoming Citations Browse incoming citations for this publication using opencitations.net

    JSON-LD is the canonical representation for SciGraph data.

    TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

    [
      {
        "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
        "about": [
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Artificial Intelligence and Image Processing", 
            "type": "DefinedTerm"
          }, 
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Information and Computing Sciences", 
            "type": "DefinedTerm"
          }
        ], 
        "author": [
          {
            "affiliation": {
              "alternateName": "University of Houston Victoria", 
              "id": "https://www.grid.ac/institutes/grid.462948.5", 
              "name": [
                "University of Houston-Victoria Victoria USA"
              ], 
              "type": "Organization"
            }, 
            "familyName": "McFadden", 
            "givenName": "David", 
            "id": "sg:person.013623261331.34", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013623261331.34"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "University of Houston Victoria", 
              "id": "https://www.grid.ac/institutes/grid.462948.5", 
              "name": [
                "University of Houston-Victoria Victoria USA"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Wilson", 
            "givenName": "Brandon", 
            "id": "sg:person.07435507765.54", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.07435507765.54"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "University of Houston Victoria", 
              "id": "https://www.grid.ac/institutes/grid.462948.5", 
              "name": [
                "University of Houston-Victoria Victoria USA"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Tavakkoli", 
            "givenName": "Alireza", 
            "id": "sg:person.013075650051.60", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013075650051.60"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "University of Houston Victoria", 
              "id": "https://www.grid.ac/institutes/grid.462948.5", 
              "name": [
                "University of Houston-Victoria Victoria USA"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Loffredo", 
            "givenName": "Donald", 
            "id": "sg:person.01263707610.36", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01263707610.36"
            ], 
            "type": "Person"
          }
        ], 
        "citation": [
          {
            "id": "sg:pub.10.1007/3-540-44480-7_21", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1021371683", 
              "https://doi.org/10.1007/3-540-44480-7_21"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/3-540-44480-7_21", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1021371683", 
              "https://doi.org/10.1007/3-540-44480-7_21"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1117/12.908794", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1023904139"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1145/1187112.1187151", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1024032088"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/s11263-006-0002-3", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1049205751", 
              "https://doi.org/10.1007/s11263-006-0002-3"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/mcg.2004.1297011", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061391333"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/vr.2008.4480745", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1095142639"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/iccv.1999.790410", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1095766209"
            ], 
            "type": "CreativeWork"
          }
        ], 
        "datePublished": "2016", 
        "datePublishedReg": "2016-01-01", 
        "description": "As Virtual Reality technologies proliferate to traditional multimedia application areas, there is a need to create systemic and automated processes to establish the main building blocks of the virtual environments in support of such applications. In this paper, we propose a unified framework for procedurally creating a virtual reality replica of a remotely situated robot\u2019s physical environment. The proposed approach utilizes only robot\u2019s onboard camera and automatically generates the environment map for the final VR environment. The main contributions of this paper are in the hierarchical generation of the epirectangular panorama, the efficient diffuse filling of missing pixel values and the use of the developed virtual environment in improving telepresence for remote social robotics applications.", 
        "editor": [
          {
            "familyName": "Bebis", 
            "givenName": "George", 
            "type": "Person"
          }, 
          {
            "familyName": "Boyle", 
            "givenName": "Richard", 
            "type": "Person"
          }, 
          {
            "familyName": "Parvin", 
            "givenName": "Bahram", 
            "type": "Person"
          }, 
          {
            "familyName": "Koracin", 
            "givenName": "Darko", 
            "type": "Person"
          }, 
          {
            "familyName": "Porikli", 
            "givenName": "Fatih", 
            "type": "Person"
          }, 
          {
            "familyName": "Skaff", 
            "givenName": "Sandra", 
            "type": "Person"
          }, 
          {
            "familyName": "Entezari", 
            "givenName": "Alireza", 
            "type": "Person"
          }, 
          {
            "familyName": "Min", 
            "givenName": "Jianyuan", 
            "type": "Person"
          }, 
          {
            "familyName": "Iwai", 
            "givenName": "Daisuke", 
            "type": "Person"
          }, 
          {
            "familyName": "Sadagic", 
            "givenName": "Amela", 
            "type": "Person"
          }, 
          {
            "familyName": "Scheidegger", 
            "givenName": "Carlos", 
            "type": "Person"
          }, 
          {
            "familyName": "Isenberg", 
            "givenName": "Tobias", 
            "type": "Person"
          }
        ], 
        "genre": "chapter", 
        "id": "sg:pub.10.1007/978-3-319-50835-1_64", 
        "inLanguage": [
          "en"
        ], 
        "isAccessibleForFree": false, 
        "isFundedItemOf": [
          {
            "id": "sg:grant.4385858", 
            "type": "MonetaryGrant"
          }
        ], 
        "isPartOf": {
          "isbn": [
            "978-3-319-50834-4", 
            "978-3-319-50835-1"
          ], 
          "name": "Advances in Visual Computing", 
          "type": "Book"
        }, 
        "name": "Automatic Environment Map Construction for Mixed Reality Robotic Applications", 
        "pagination": "713-722", 
        "productId": [
          {
            "name": "doi", 
            "type": "PropertyValue", 
            "value": [
              "10.1007/978-3-319-50835-1_64"
            ]
          }, 
          {
            "name": "readcube_id", 
            "type": "PropertyValue", 
            "value": [
              "86f5c6598b1f34b1360a14ad282d20f585fb137ff8c865a5cc1f491d0a5dee51"
            ]
          }, 
          {
            "name": "dimensions_id", 
            "type": "PropertyValue", 
            "value": [
              "pub.1028330298"
            ]
          }
        ], 
        "publisher": {
          "location": "Cham", 
          "name": "Springer International Publishing", 
          "type": "Organisation"
        }, 
        "sameAs": [
          "https://doi.org/10.1007/978-3-319-50835-1_64", 
          "https://app.dimensions.ai/details/publication/pub.1028330298"
        ], 
        "sdDataset": "chapters", 
        "sdDatePublished": "2019-04-15T20:06", 
        "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
        "sdPublisher": {
          "name": "Springer Nature - SN SciGraph project", 
          "type": "Organization"
        }, 
        "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8687_00000260.jsonl", 
        "type": "Chapter", 
        "url": "http://link.springer.com/10.1007/978-3-319-50835-1_64"
      }
    ]
     

    Download the RDF metadata as:  json-ld nt turtle xml License info

    HOW TO GET THIS DATA PROGRAMMATICALLY:

    JSON-LD is a popular format for linked data which is fully compatible with JSON.

    curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-50835-1_64'

    N-Triples is a line-based linked data format ideal for batch operations.

    curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-50835-1_64'

    Turtle is a human-readable linked data format.

    curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-50835-1_64'

    RDF/XML is a standard XML format for linked data.

    curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-50835-1_64'


     

    This table displays all metadata directly associated to this object as RDF triples.

    166 TRIPLES      23 PREDICATES      34 URIs      20 LITERALS      8 BLANK NODES

    Subject Predicate Object
    1 sg:pub.10.1007/978-3-319-50835-1_64 schema:about anzsrc-for:08
    2 anzsrc-for:0801
    3 schema:author N7dcff2cf4e9d4ed6a8ae594eb8a39c1b
    4 schema:citation sg:pub.10.1007/3-540-44480-7_21
    5 sg:pub.10.1007/s11263-006-0002-3
    6 https://doi.org/10.1109/iccv.1999.790410
    7 https://doi.org/10.1109/mcg.2004.1297011
    8 https://doi.org/10.1109/vr.2008.4480745
    9 https://doi.org/10.1117/12.908794
    10 https://doi.org/10.1145/1187112.1187151
    11 schema:datePublished 2016
    12 schema:datePublishedReg 2016-01-01
    13 schema:description As Virtual Reality technologies proliferate to traditional multimedia application areas, there is a need to create systemic and automated processes to establish the main building blocks of the virtual environments in support of such applications. In this paper, we propose a unified framework for procedurally creating a virtual reality replica of a remotely situated robot’s physical environment. The proposed approach utilizes only robot’s onboard camera and automatically generates the environment map for the final VR environment. The main contributions of this paper are in the hierarchical generation of the epirectangular panorama, the efficient diffuse filling of missing pixel values and the use of the developed virtual environment in improving telepresence for remote social robotics applications.
    14 schema:editor N7a372615ca98491f84b2c209e38b937e
    15 schema:genre chapter
    16 schema:inLanguage en
    17 schema:isAccessibleForFree false
    18 schema:isPartOf N3ae888b68dcb47758df316e0669ba118
    19 schema:name Automatic Environment Map Construction for Mixed Reality Robotic Applications
    20 schema:pagination 713-722
    21 schema:productId N0a456139482c4df4b354566ed2006ace
    22 N294e458acd694ad89e51ea5e91c428ce
    23 N85462f1f048140cbb5080ff68cc4e969
    24 schema:publisher N91858c5501a54057b6c4cc0046b68965
    25 schema:sameAs https://app.dimensions.ai/details/publication/pub.1028330298
    26 https://doi.org/10.1007/978-3-319-50835-1_64
    27 schema:sdDatePublished 2019-04-15T20:06
    28 schema:sdLicense https://scigraph.springernature.com/explorer/license/
    29 schema:sdPublisher N8f957329947e421e8b9b3c05a87a5c68
    30 schema:url http://link.springer.com/10.1007/978-3-319-50835-1_64
    31 sgo:license sg:explorer/license/
    32 sgo:sdDataset chapters
    33 rdf:type schema:Chapter
    34 N0a456139482c4df4b354566ed2006ace schema:name dimensions_id
    35 schema:value pub.1028330298
    36 rdf:type schema:PropertyValue
    37 N14fd9a77c20d43619bce23c9f1e013fd rdf:first Nf118aaa99b644013abe59ea8c993c721
    38 rdf:rest N4651db1fce484f95944e5897e2c8555d
    39 N1e4b900cb52747b58f3858b46a273fd0 rdf:first Ne31fcd39bb774069ba3240f99f870fb4
    40 rdf:rest N2bf6775ae87a4911b3c54f5060dae1ea
    41 N272a745948ed4cc89e39671abb57a513 schema:familyName Boyle
    42 schema:givenName Richard
    43 rdf:type schema:Person
    44 N294e458acd694ad89e51ea5e91c428ce schema:name readcube_id
    45 schema:value 86f5c6598b1f34b1360a14ad282d20f585fb137ff8c865a5cc1f491d0a5dee51
    46 rdf:type schema:PropertyValue
    47 N2bf6775ae87a4911b3c54f5060dae1ea rdf:first N7ead88ce52064c3398a31165268c103b
    48 rdf:rest Neb2dba632d7d47afa67b7a252aee8aca
    49 N3ae888b68dcb47758df316e0669ba118 schema:isbn 978-3-319-50834-4
    50 978-3-319-50835-1
    51 schema:name Advances in Visual Computing
    52 rdf:type schema:Book
    53 N4651db1fce484f95944e5897e2c8555d rdf:first N9678a8b8ecff410ba018df2c031e4cee
    54 rdf:rest Nf1f06c679ffe4830857c7874cb3fd0fa
    55 N5fce65670ade40c8913fa729aaffdf3d rdf:first N9b123dee1d8d416593d2c36557234901
    56 rdf:rest N1e4b900cb52747b58f3858b46a273fd0
    57 N6b859430b0264958b312a2affcf1dfd1 schema:familyName Entezari
    58 schema:givenName Alireza
    59 rdf:type schema:Person
    60 N7562655d047342ba80bf808956fee0b9 schema:familyName Iwai
    61 schema:givenName Daisuke
    62 rdf:type schema:Person
    63 N7806eadfaa12499ba023c815987bf575 rdf:first N6b859430b0264958b312a2affcf1dfd1
    64 rdf:rest Nc2a196e0fd30484fb96fd5e4c0376241
    65 N7a372615ca98491f84b2c209e38b937e rdf:first Nb5ffb5a386d144998e47fd8ee6b10904
    66 rdf:rest Nd90a928896ad4672ada324e47ec3a2ec
    67 N7dcff2cf4e9d4ed6a8ae594eb8a39c1b rdf:first sg:person.013623261331.34
    68 rdf:rest Nb7b676535f9e4e8590e66e65b3c55bfc
    69 N7ead88ce52064c3398a31165268c103b schema:familyName Porikli
    70 schema:givenName Fatih
    71 rdf:type schema:Person
    72 N85462f1f048140cbb5080ff68cc4e969 schema:name doi
    73 schema:value 10.1007/978-3-319-50835-1_64
    74 rdf:type schema:PropertyValue
    75 N8f957329947e421e8b9b3c05a87a5c68 schema:name Springer Nature - SN SciGraph project
    76 rdf:type schema:Organization
    77 N906cdb5e752f4554b9afe60b8c498561 rdf:first sg:person.01263707610.36
    78 rdf:rest rdf:nil
    79 N91858c5501a54057b6c4cc0046b68965 schema:location Cham
    80 schema:name Springer International Publishing
    81 rdf:type schema:Organisation
    82 N9678a8b8ecff410ba018df2c031e4cee schema:familyName Scheidegger
    83 schema:givenName Carlos
    84 rdf:type schema:Person
    85 N996f0a88c7804af4adc8d8b1e4dfba84 schema:familyName Isenberg
    86 schema:givenName Tobias
    87 rdf:type schema:Person
    88 N9b123dee1d8d416593d2c36557234901 schema:familyName Parvin
    89 schema:givenName Bahram
    90 rdf:type schema:Person
    91 Na88dacf32989409a8416a2d488faffc2 rdf:first sg:person.013075650051.60
    92 rdf:rest N906cdb5e752f4554b9afe60b8c498561
    93 Nb5ffb5a386d144998e47fd8ee6b10904 schema:familyName Bebis
    94 schema:givenName George
    95 rdf:type schema:Person
    96 Nb7b676535f9e4e8590e66e65b3c55bfc rdf:first sg:person.07435507765.54
    97 rdf:rest Na88dacf32989409a8416a2d488faffc2
    98 Nc2a196e0fd30484fb96fd5e4c0376241 rdf:first Nea842e122cb24de1bf54f12f88b2898e
    99 rdf:rest Nde760438f9f84786b9a316747a92c6ee
    100 Nc78771a59fff49e4a18cb6cc7d202895 schema:familyName Skaff
    101 schema:givenName Sandra
    102 rdf:type schema:Person
    103 Nd90a928896ad4672ada324e47ec3a2ec rdf:first N272a745948ed4cc89e39671abb57a513
    104 rdf:rest N5fce65670ade40c8913fa729aaffdf3d
    105 Nde760438f9f84786b9a316747a92c6ee rdf:first N7562655d047342ba80bf808956fee0b9
    106 rdf:rest N14fd9a77c20d43619bce23c9f1e013fd
    107 Ne31fcd39bb774069ba3240f99f870fb4 schema:familyName Koracin
    108 schema:givenName Darko
    109 rdf:type schema:Person
    110 Nea842e122cb24de1bf54f12f88b2898e schema:familyName Min
    111 schema:givenName Jianyuan
    112 rdf:type schema:Person
    113 Neb2dba632d7d47afa67b7a252aee8aca rdf:first Nc78771a59fff49e4a18cb6cc7d202895
    114 rdf:rest N7806eadfaa12499ba023c815987bf575
    115 Nf118aaa99b644013abe59ea8c993c721 schema:familyName Sadagic
    116 schema:givenName Amela
    117 rdf:type schema:Person
    118 Nf1f06c679ffe4830857c7874cb3fd0fa rdf:first N996f0a88c7804af4adc8d8b1e4dfba84
    119 rdf:rest rdf:nil
    120 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
    121 schema:name Information and Computing Sciences
    122 rdf:type schema:DefinedTerm
    123 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
    124 schema:name Artificial Intelligence and Image Processing
    125 rdf:type schema:DefinedTerm
    126 sg:grant.4385858 http://pending.schema.org/fundedItem sg:pub.10.1007/978-3-319-50835-1_64
    127 rdf:type schema:MonetaryGrant
    128 sg:person.01263707610.36 schema:affiliation https://www.grid.ac/institutes/grid.462948.5
    129 schema:familyName Loffredo
    130 schema:givenName Donald
    131 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01263707610.36
    132 rdf:type schema:Person
    133 sg:person.013075650051.60 schema:affiliation https://www.grid.ac/institutes/grid.462948.5
    134 schema:familyName Tavakkoli
    135 schema:givenName Alireza
    136 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013075650051.60
    137 rdf:type schema:Person
    138 sg:person.013623261331.34 schema:affiliation https://www.grid.ac/institutes/grid.462948.5
    139 schema:familyName McFadden
    140 schema:givenName David
    141 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013623261331.34
    142 rdf:type schema:Person
    143 sg:person.07435507765.54 schema:affiliation https://www.grid.ac/institutes/grid.462948.5
    144 schema:familyName Wilson
    145 schema:givenName Brandon
    146 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.07435507765.54
    147 rdf:type schema:Person
    148 sg:pub.10.1007/3-540-44480-7_21 schema:sameAs https://app.dimensions.ai/details/publication/pub.1021371683
    149 https://doi.org/10.1007/3-540-44480-7_21
    150 rdf:type schema:CreativeWork
    151 sg:pub.10.1007/s11263-006-0002-3 schema:sameAs https://app.dimensions.ai/details/publication/pub.1049205751
    152 https://doi.org/10.1007/s11263-006-0002-3
    153 rdf:type schema:CreativeWork
    154 https://doi.org/10.1109/iccv.1999.790410 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095766209
    155 rdf:type schema:CreativeWork
    156 https://doi.org/10.1109/mcg.2004.1297011 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061391333
    157 rdf:type schema:CreativeWork
    158 https://doi.org/10.1109/vr.2008.4480745 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095142639
    159 rdf:type schema:CreativeWork
    160 https://doi.org/10.1117/12.908794 schema:sameAs https://app.dimensions.ai/details/publication/pub.1023904139
    161 rdf:type schema:CreativeWork
    162 https://doi.org/10.1145/1187112.1187151 schema:sameAs https://app.dimensions.ai/details/publication/pub.1024032088
    163 rdf:type schema:CreativeWork
    164 https://www.grid.ac/institutes/grid.462948.5 schema:alternateName University of Houston Victoria
    165 schema:name University of Houston-Victoria Victoria USA
    166 rdf:type schema:Organization
     




    Preview window. Press ESC to close (or click here)


    ...