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Tracking and Planning with Spatial World Models [article]

Baris Kayalibay, Atanas Mirchev, Patrick van der Smagt, Justin Bayer
2022 arXiv   pre-print
We introduce a method for real-time navigation and tracking with differentiably rendered world models.  ...  We do this by planning in a learned 3D spatial world model, combined with a pose estimation algorithm previously used in the context of TSDF fusion, but now tailored to our setting and improved to incorporate  ...  Prior work has attempted to learn such world models of spatial environments (Fraccaro et al., 2018; Mirchev et al., 2019) .  ... 
arXiv:2201.10335v1 fatcat:rfty3jxmqzfenntfinsx2pvfo4

Intraoperative visual guidance and control interface for augmented reality robotic surgery

Rong Wen, Liangjing Yang, Chee-Kong Chui, Kah-Bin Lim, Stephen Chang
2010 IEEE ICCA 2010  
After the therapeutic model and the surgical plan are prepared, the model is projected onto the patient in the spatial AR environment.  ...  There is an iterative process with AR real-time model rendering and feedback from the real world environment, including hand gesture interaction with the AR model, surgical robot and the feedback of signal  ... 
doi:10.1109/icca.2010.5524421 dblp:conf/icca/WenYCLC10 fatcat:5ibsnsy7inalbhiwwv7llwhj6y

Plan-Driven Fusion: Shaping the Situation Awareness Process using Empirical Plan Data

Phil DiBona, Nadya Belov, Angela Pawlowski
2006 2006 9th International Conference on Information Fusion  
Because operational context a l l o w s information fusion to develop an accurate representation of world state, and world state is the basis from which plan execution monitoring assesses the status of  ...  plans, a loose coupling between information fusion and plan understanding and execution monitoring results in less-than-optimal situational awareness for a commander.  ...  The actor's track (see Figure 2 ) has one spatial region associated with it to which the plan associates four more regions.  ... 
doi:10.1109/icif.2006.301669 dblp:conf/fusion/DiBonaBP06 fatcat:xxyquqphffgubkxwxysstxi5dq

Teaching Spatial Augmented Reality: a Practical Assignment for Large Audiences [article]

Brett Ridel, Patrick Reuter, Nadine Couture
2018 Eurographics State of the Art Reports  
and tracking.  ...  The key idea is to set up a scene graph consisting of a 3D scene with a simulated projector that "projects" content onto a virtual representation of the real-world object.  ...  Acknowledgments We thank the ESTIA students of "Promotion 2017" and "Promotion 2018" that have participated in the assignment. This work was partly supported by the ISAR project ANR-14-CE24-0013.  ... 
doi:10.2312/eged.20181004 fatcat:fazcrnh7ovgwlowvdfy3daiplu

Intraoperative Visual Guidance and Control Interface for Augmented Reality Robotic Surgery [chapter]

Rong Wen, Chee-Kong Chui, Kah-Bin Lim
2011 Augmented Reality - Some Emerging Application Areas  
After the therapeutic model and the surgical plan are prepared, the model is projected onto the patient in the spatial AR environment.  ...  There is an iterative process with AR real-time model rendering and feedback from the real world environment, including hand gesture interaction with the AR model, surgical robot and the feedback of signal  ...  The second section deals with AR in medical, biological, and human bodies. The third and final section contains a number of new and useful applications in daily living and learning.  ... 
doi:10.5772/25562 fatcat:bojwqhrdk5do7mucnoqn374thq

Big Data Analytics In The Geo-Spatial Domain [article]

Romulo Goncalves, Milena Ivanova, Martin Kersten, Henk Scholten, Sisi Zlatanova
2016 Zenodo  
The goal of our project is to design an efficient data management layer for a generic geo-spatial analysis system with focus on three dimensional (3D) city models.  ...  The provision of spatial and geo-spatial features in database systems needs to be extended and brought to maturity to fulfill the requirements of real-world scientific applications.  ...  The goal of our project is to design an efficient data management layer for a generic geo-spatial analysis system with focus on three dimensional (3D) city models.  ... 
doi:10.5281/zenodo.1045087 fatcat:zdnvg5enbjgezhwljleaevu3se

Comparing Field Trips, VR Experiences and Video Representations on Spatial Layout Learning in Complex Buildings [article]

Cetin Tuker, Togan Tong
2021 arXiv   pre-print
Results showed IVR group recalled significantly more spatial memories compared with the real-world and video walkthrough representation groups.  ...  Second, for the domain of layout knowledge learning, a remarkably simple IVR model is enough.  ...  VR with HMD tracking and immersive VR without HMD tracking.  ... 
arXiv:2105.01968v1 fatcat:5d6lx3dppvgm7niavvlhqnjju4

Choosing informative actions for manipulation tasks

Shiraj Sen, Grant Sherrick, Dirk Ruiken, Rod Grupen
2011 2011 11th IEEE-RAS International Conference on Humanoid Robots  
With this goal in mind, we present a knowledge representation that makes explicit the invariant spatial relationships between sensorimotor features comprising a rigid body and uses them to reason about  ...  In order to meet these expectations efficiently, it is necessary to organize knowledge of past interactions with the world in order to facilitate future tasks.  ...  In this paper, we present a solution to this representational issue by using a functional model of interactions with the world.  ... 
doi:10.1109/humanoids.2011.6100911 dblp:conf/humanoids/SenSRG11 fatcat:jv3h6lzxsbeqhg7rb56nmyegdq

3D BUILDING RECONSTRUCTION BY MULTIVIEW IMAGES AND THE INTEGRATED APPLICATION WITH AUGMENTED REALITY

Jin-Tsong Hwang, Ting-Chen Chu
2016 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
To apply 3D building models in urban planning and design, a modern approach is to rebuild the digital models; however, replacing the landscape design and building distribution in real time is difficult  ...  The 3D models are reconstructed using AutoCAD 2016 to generate vectors from the point clouds; SketchUp Make 2016 is used to rebuild a complete building model with textures.  ...  The conceptual basis of AR is the integration of the real world with the virtual world.  ... 
doi:10.5194/isprs-archives-xli-b1-1235-2016 fatcat:ldxqky3dkrabvktinuiwogb2w4

Adaptive Sampling of Ocean Processes Using an AUV with a Gaussian Proxy Model

Gunhild Elisabeth Berget, Trygve Olav Fossum, Tor Arne Johansen, Jo Eidsvik, Kanna Rajan
2018 IFAC-PapersOnLine  
This paper presents methods for building and exploiting compact spatial models on board an autonomous underwater vehicle (AUV) towards tracking suspended material plumes.  ...  The spatial model is built using Gaussian process approximations and an objective function for path planning is suggested to maximize the value of the collected information.  ...  ACKNOWLEDGEMENTS The authors would like to thank Finn Are Michelsen and Raymond Nepstad from SINTEF Ocean AS for running the numerical models SINMOD and DREAM, and supplying the data sets used in section  ... 
doi:10.1016/j.ifacol.2018.09.509 fatcat:5xdbgcirvbfn5azfcz55r5wrmy

Cognitive Interpretation of Everyday Activities - Toward Perceptual Narrative Based Visuo-Spatial Scene Interpretation

Mehul Bhatt, Jakob Suchan, Carl Schultz, Marc Herbstritt
2013 Workshop on Computational Models of Narrative  
We position a narrative-centred computational model for high-level knowledge representation and reasoning in the context of a range of assistive technologies concerned with visuo-spatial perception and  ...  Our proposed narrative model encompasses aspects such as space, events, actions, change, and interaction from the viewpoint of commonsense reasoning and learning in large-scale cognitive systems.  ...  robotic plan generation, semantic model generation from video, ambient intelligence and smart environments (e.g., see narrative based models in [10, 11, 17, 3, 7, 8] ).  ... 
doi:10.4230/oasics.cmn.2013.24 dblp:conf/cmn/BhattSS13 fatcat:yu76luhe4ravldyymglafnf2ry

COLLABORATIVE MULTI-SCALE 3D CITY AND INFRASTRUCTURE MODELING AND SIMULATION

M. Breunig, A. Borrmann, E. Rank, S. Hinz, T. Kolbe, M. Schilcher, R.-P. Mundani, J. R. Jubierre, M. Flurl, A. Thomsen, A. Donaubauer, Y. Ji (+10 others)
2017 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
the Building Information Modeling and the 3D GIS world.  ...  New approaches including the development of a collaborative platform and 3D multi-scale modelling are proposed for collaborative planning and simulation to improve the digital 3D planning of subway tracks  ...  and building models" is acknowledged.  ... 
doi:10.5194/isprs-archives-xlii-4-w4-341-2017 fatcat:juuzy7pncfco3eeikoknts7wde

Background and related work [chapter]

Gerhard Schall
2012 Mobile Augmented Reality for Human Scale Interaction with Geospatial Models  
GIS play a major role in the context of spatial asset management (utilities and telecommunication), mapping and cadastral surveying, navigation and location-based services, planning and spatial business  ...  In addition, redundancy and inconsistency among spatially overlapping models are eliminated since all models are generated with reference to the most up-to-date data.  ... 
doi:10.1007/978-3-658-00197-1_2 fatcat:giegrdr2ubdnbnfe2ah3pntgdy

Cognitive Interpretation of Everyday Activities: Toward Perceptual Narrative Based Visuo-Spatial Scene Interpretation [article]

Mehul Bhatt, Jakob Suchan, Carl Schultz
2013 arXiv   pre-print
We position a narrative-centred computational model for high-level knowledge representation and reasoning in the context of a range of assistive technologies concerned with "visuo-spatial perception and  ...  structures, Motion, Perceptual reasoning, Shape, Video analysis General keywords: cognitive systems; human-computer interaction; spatial cognition and computation; commonsense reasoning; spatial and temporal  ...  Combinations of spatial and temporal relations serve as observations describing perceived phenomena in the real world.  ... 
arXiv:1306.5308v1 fatcat:jxqphtmqrjaz3i77dvgeiklwoq

Studying the Effects of Stereo, Head Tracking, and Field of Regard on a Small-Scale Spatial Judgment Task

Eric D. Ragan, Regis Kopper, Philip Schuchardt, Doug A. Bowman
2013 IEEE Transactions on Visualization and Computer Graphics  
Spatial judgments are important for many real-world tasks in engineering and scientific visualization.  ...  Measuring time and errors, we asked participants to distinguish between structural gaps and intersections between components of 3D models designed to be similar to real underground cave systems.  ...  Anthony Cate for his help with this work and Virginia Tech Research Computing's Visionarium Lab for the hardware and facilities used in this research.  ... 
doi:10.1109/tvcg.2012.163 pmid:22868674 fatcat:spbnwc2r4zbwhmfta67w5ldwhi
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