Prototyping is an important part in research and development of tangible user interfaces (TUIs). On the way from the idea to a working prototype, new hardware prototypes usually have to be crafted repeatedly in numerous iterations. This brings us to think about virtual prototypes that exhibit the same functionality as a real TUI, but reduce the amount of time and resources that have to be spent. Building upon existing open-source software - the middleware Robot Operating System (ROS) and the 3D simulator Gazebo - we have created a toolkit that can be used for developing and testing fully functional implementations of a tangible user interface as a virtual device. The entire interaction between the TUI and other hardware and software components is controlled by the middleware, while the human interaction with the TUI can be explored using the 3D simulator and 3D input output technologies. We argue that by simulating parts of the hardware-software co-design process, the overall development effort can be reduced.
The @cite_14 toolkit enables to build tangible interfaces using computer vision, electronic tags, and bar codes. Owners of a Vicon Tracking system can make use of the rapid prototyping workbench @cite_17 . It allows designing functional interfaces on 3D physical objects of any shape. Other commonly used hardware toolkits are Arduino http: www.arduino.cc , last accessed May ,6, 2014 , Phidgets http: www.phidgets.com , last accessed May ,6, 2014 or iStuff @cite_11 .
@cite_14 @cite_11 @cite_17
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This paper introduces DisplayObjects, a rapid prototyping workbench that allows functional interfaces to be projected onto real 3D physical prototypes. DisplayObjects uses a Vicon motion capture system to track the location of physical models. 3D software renditions of the 3D physical model are then texture-mapped with interactive behavior and projected back onto the physical model to allow real- time interactions with the object. We discuss the implementation of the system, as well as a selection of one and two-handed interaction techniques for DisplayObjects. We conclude with a design case that comments on some of the early design experiences with the system. Tangible user interfaces (TUIs) augment the physical world by integrating digital information with everyday physical objects. Currently, building these UIs requires "getting down and dirty" with input technologies such as computer vision. Consequently, only a small cadre of technology experts can currently build these UIs. Based on a literature review and structured interviews with nine TUI researchers, we created Papier-Mâche, a toolkit for building tangible interfaces using computer vision, electronic tags, and barcodes. Papier-Mache introduces a high-level event model for working with these technologies that facilitates technology portability. For example, an application can be prototyped with computer vision and deployed with RFID. We present an evaluation of our toolkit with six class projects and a user study with seven programmers, finding the input abstractions, technology portability, and monitoring window to be highly effective. Presents a framework for three-dimensional model-based tracking. Graphical rendering technology is combined with constrained active contour tracking to create a robust wire-frame tracking system. It operates in real time at video frame rate (25 Hz) on standard hardware. It is based on an internal CAD model of the object to be tracked which is rendered using a binary space partition tree to perform hidden line removal. A Lie group formalism is used to cast the motion computation problem into simple geometric terms so that tracking becomes a simple optimization problem solved by means of iterative reweighted least squares. A visual servoing system constructed using this framework is presented together with results showing the accuracy of the tracker. The paper then describes how this tracking system has been extended to provide a general framework for tracking in complex configurations. The adjoint representation of the group is used to transform measurements into common coordinate frames. The constraints are then imposed by means of Lagrange multipliers. Results from a number of experiments performed using this framework are presented and discussed. System designers typically use well-studied benchmarks to evaluate and improve new architectures and compilers. We design tomorrow's systems based on yesterday's applications. In this paper we investigate an emerging application, 3D scene understanding, likely to be significant in the mobile space in the near future. Until now, this application could only run in real-time on desktop GPUs. In this work, we examine how it can be mapped to power constrained embedded systems. Key to our approach is the idea of incremental co-design exploration, where optimization choices that concern the domain layer are incrementally explored together with low-level compiler and architecture choices. The goal of this exploration is to reduce execution time while minimizing power and meeting our quality of result objective. As the design space is too large to exhaustively evaluate, we use active learning based on a random forest predictor to find good designs. We show that our approach can, for the first time, achieve dense 3D mapping and tracking in the real-time range within a 1W power budget on a popular embedded device. This is a 4.8× execution time improvement and a 2.8× power reduction compared to the state-of-the-art.