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Augmented reality Principles and practice Dieter Schmalstieg Tobias hollerer A Addison-Wesley Boston· Columbus· dianabol… New York· San francisco· Amsterdam· Cape Town Dbai· London· Madrid·Mihn· Munich· Paris montreal· Toronto Delhi· Mexico City Sao paulo· Sydney· Hong Kong· Seoul· Singapore· Taipei· Tokyo Many of the designations used by manufacturers and sellers to distinguish their products are claimed as trademarks. Where those designations appear in this book, and the publisher was aware of a trademark claim, the designations have been printed with initial capital letters or in all apitals The authors and publisher have taken care in the preparation of this book, but make no expressed or implied warranty of any kind and assume no responsibility for errors or omissions. No liability is assumed for incidental or consequential damages in connection with or arising out of the use of the information or programs contained herein. For information about buying this title in bulk quantities, or for special sales opportunities( which may inchde electronic versions; custom cover designs; and content particular to your busincss, training goals, marketing focus, or branding interests), please contact our corporate sales department at corpsaleslapearsoned com or(800)382-3419 Forgovernmentsalesnqunies,pleasecontactgovemmentsales(aipearsoned.com ForquestionsaboutsalesoutsidetheU.s,pleasecontactintlcs@pearson.com Visit us on the Web: informit. com/aw Library of Congress Cataloging-in-Publication Data Names: Schmalstieg, D (Deter), author. Ilollerer, Tobias, 1970- author Title: Augmented reality: principles and practice/ Dieter Schmalstieg, Tobias hollered Description: Boston Addison-Wesley, 2016. Inchudes bibliographical references and index. Identifiers: LCCN 2016009049 ISBN 9780321883575(pbk. alk paper Subject: LCSI L: Augmented reality Classification: LCC QA769A94 S36 2016 DDC 006.8-dc23 Lcrecordavailableathttps://ccn.loc.gov/2016009049 Copyright C 2016 Pearson Education, Inc All rights reserved. Printed in the United States of America. This publication is protected by copyright, and permission must be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any mcans, clectronic, mechanical photocopying, recording, or likewise. For information regarding permissions, request forms and the appropriate contacts wthin the Pearson EducationGlobalRights&permissionsdepartmentpleasevisitwww.pearsoned.com/permissions/ ISBN-13:978-0-321-88357-5 ISBN-10:0-321-88357-8 Text printed in the United States on recycled paper at rr Donelley in Crawfordsville, Indiana First printing, Junc 2016 Publisher Mark L. taub Executive editor Laura lewin Development editor Susan brown zahn Managing editor Sandra schroeder Full-Service Production Manager Julie B nahil Project Editor Thistle i lill publishing services Copy Editor Jill Hobbs Indexer John s. lewis Proofreader Arma Popick Technical reviewers Reinhold behringer Doug bowman Kiyoshi Kiyokawa Editorial assistant Olivia Basegio Cover Designer Chuti Prasertsith Compositor Shepherd, Inc Addison-Wesley Usability and Hcl series 剂| le POR VLRT PEYECL ESSENT AL NDROID MOBILI USER INTERFACE INTERACTION RESPONSIVE DESIGN DESIGN MOBILE DESIGN arID画点虚瓦 IAn CLIFTON S WEIMROLO ThE DU10 ∴ Addison- Wesley TORIE D Visit informit. com/series/usability for a complete list of available publications Essential Guides for Human-Computer Interaction and User Interface Designers B ooks in the hcl and usability series provide practicing programmers with unique, high-quality references and tutorials on interaction and interface design, a critical component of success for any mobile app or website. The books in this series bring the full range of methods and options available to meet the challenge of designing for a natural and intuitive global user experience. Make sure to connect with us! nfor. com/socialconnect informit.com+addIsOn-wesley the busied taehnaboy sorce Safari ALWAYS LEARNING PEARSON To Ursula, katharina. and florian -Dieter To Julie. Clara and luisa Tobie Contents Preface Acknowledgments About the authors 1 Introduction to Augmented reality Definition and Scope A Brief History of Augmented Realit Examples Industry and construction Maintenance and Training Medical Personal Information Display Navigation Te evision Advertising and commerce Games Related ficlds Mixed Reality Continum Virtual Reality Ubiquitous Computmg Summary sPays Multimodal Displays Audio Displays Haptic, Tactile, and Tangible displays Olfactory and Gustatory Displays Visual perception Requirements and characteristics Method of Augmentation Ocularity and stereoscopy Focus Occlusion Resolution and refresh rate Field ofview Ⅴ iewpoint Offset Brightness and Contrast Distortions and aberrations Latency genomiCs Social Acceptance Spatial Display model Ⅴ isual Displays Near-Eve Displays Handheld displays Stationary Displays Projected displays Summary 3 Tracking Tracking Calibration, and Registration Coordinate Systems Model transformation View Transformation Projective Transformation Frames of Reference Characteristics of Tracking technolo Physical Phenomena Measurement Principle Measured Geometric Property Sensor arrangement Signal sources Degrees of frecdom Measurement coordinates Spatial Sensor Arrangement Workspace Coverage Measurement error Temporal Characteristics Stationary Tracking Systenms Mechanical Tracking Electromagnetic Tracking Ultrasonic trackin Mobile sensors Global Positioning System Wireless networks Magnetometer Grosch Lnear accelerometer Optical Trackin Model-Bascd versus model-free tracking Imnation Markers versus natural features Target Identification Sensor fusion Complementary Sensor Fusion Competitive Sensor Fusion Cooperative Sensor Fusion Summary 4 Coputer Vision for Augmented Reality Marker tracking Camera Representation Marker detection Pose Estimation from Homography Pose refinement Multiple-C Infrared Tracking Blob detection Estab lishing point correspondenc Triangulation from Two cameras Triangulation from more than Two cameras Matching Targets Consisting of Spherical Markers Absolute Orientation Natural Feature Tracking by Detection Interest point dctection Descriptor Creation Descriptor matching Perspective-n-Pomt Pose Robust pose estimation Incremental tracking Active se Kanade-Lucas-Tommasi Tracking Zero-Normalized Cross-Correltion Hierarchical Search Combined detection and tracking Simultaneous Localization and Mapping Five-Point Algorithm for Essential Matrix Bundle Adiust Parallel Tracking and Mapping Relocalization and Loop closure Dense mapping Outdoor tracki Scalable visual matching Prior lnformation from sensors Prior Inforation from geometr Simultaneous Tracking, Mapping and Localization Summary 5 Calibration and registratio Camera calibration Internal Camera parameters Correcting lens distortion Display calibration Single point active alignment method Head-Mounted Display Calibration Using a Pointing Device Hand-Eye Calibration Registration Gcomctric Measurement distortions Error Propagation Filtering and prediction Summary 6Ⅴ isual coherence R Occlusion Occlusion refinement Probabilistic occlusion Model-Free Occlusion Photometric Registration mge-Based Lighting Light probes Oflme light Ca Photometric registration from static lmages Photometric Registration from Specular Reflections Photometric Registration from Difiuse Reflections

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