AR-Bot, a Centralized AR-based System for Relocalization and Home Robot Navigation

Matthieu Fradet, Caroline Baillard, Vincent Alleaume, Pierrick Jouet, Anthony Laurent, Tao Luo

2021

Abstract

We describe a system enabling to assign navigation tasks to a self-moving robot in a domestic environment, using an Augmented Reality application running on a consumer-grade mobile phone. The system is composed of a robot, one or several mobile phones, a robot controller and a central server. The server embeds automatic processing modules for 3D scene modeling and for device relocalization. The user points at a target location in the phone camera view and the robot automatically moves to the designated point. The user is assisted with AR-based visual feedback all along the experience. The novelty of the system lies in the automatic relocalization of both the robot and the phone: they are independently located in the 3D space thanks to registration methods running on the server, hence they do not need to be explicitly spatially registered to each other nor in direct line of sight. In the paper we provide details on the general architecture and the different modules that are needed to get a fully functional prototype. The proposed solution was designed to be easily extended and may be seen as a general architecture supporting intuitive AR interfaces for in home devices interactions.

Paper Citation

in Harvard Style

Fradet M., Baillard C., Alleaume V., Jouet P., Laurent A. and Luo T. (2021). AR-Bot, a Centralized AR-based System for Relocalization and Home Robot Navigation. In Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 4: VISAPP; ISBN 978-989-758-488-6, SciTePress, pages 637-645. DOI: 10.5220/0010190506370645

in Bibtex Style

@conference{visapp21,
author={Matthieu Fradet and Caroline Baillard and Vincent Alleaume and Pierrick Jouet and Anthony Laurent and Tao Luo},
title={AR-Bot, a Centralized AR-based System for Relocalization and Home Robot Navigation},
booktitle={Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 4: VISAPP},
year={2021},
pages={637-645},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010190506370645},
isbn={978-989-758-488-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 4: VISAPP
TI - AR-Bot, a Centralized AR-based System for Relocalization and Home Robot Navigation
SN - 978-989-758-488-6
AU - Fradet M.
AU - Baillard C.
AU - Alleaume V.
AU - Jouet P.
AU - Laurent A.
AU - Luo T.
PY - 2021
SP - 637
EP - 645
DO - 10.5220/0010190506370645
PB - SciTePress