In this video we use a robot-mounted video projector to virtually revive an old computer.
Navigation of the robot is done with an extended Dynamic Window Approach. Precise localization is needed to get the CRT-monitor into the projectors field of projection.
To achieve this localization accuracy we use an extended Monte Carlo Localization on an Occupancy Grid Map. The map was created using a mapping framework with robust back-end and post map optimization.
The projection correction is done by projecting a known pattern in the scene and re-detecting it in a camera image. A coarse alignment of the projected pattern is currently done manually to facilitate its re-detection. From correspondences of the projected pattern and its re-detection we derive a transformation which aligns a projected image with a desired target in the camera image.
The old computer is revived by running an emulator on the robot and projecting its virtual screen output onto the CRT-monitor. There are still visible distortions in the projected image because the surface of the CRT-monitor is not planar.
Additionally we utilize a clap-detector as input for the game running in the emulator.
For details see the paper "Awakening history: Preparing a museum tour guide robot for augmenting exhibits", ECMR 2013 by Marc Donner, Marian Himstedt, Sven Hellbach and Hans-Joachim Bohme.
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