Two related challenges with current teleoperated robotic systems are lack of peripheral vision and awareness, and difficulty or tedium of navigating through remote spaces. We address these challenges by providing an interface with a focus plus context (F+C) view of the robot location, and where the user can navigate simply by looking where they want to go, and clicking or drawing a path on the view to indicate the desired trajectory or destination. The F+C view provides an undistorted, perspectively correct central region surrounded by a wide field of view peripheral portion, and avoids the need for separate views. The navigation method is direct and intuitive in comparison to keyboard or joystick based navigation, which require the user to be in a control loop as the robot moves. Both the F+C views and the direct click navigation were evaluated in a preliminary user study.

We demonstrate a system for supporting mirror worlds - 3D virtual models of physical spaces that reflect the structure and activities of those spaces to help support context awareness and tasks such as planning and recollection of events. Through views on web pages, portable devices, or on `magic window' displays in the physical space, remote people may `look in' to the space, while people within the space are provided information that would not otherwise be obvious. For example, by looking at a mirror display, people can learn how long others have been present, or where they have been. People in one part of a building can get a sense of activities in the rest of the building. The system can be used to bridge across sites and help provide different parts of an organization with a shared awareness of each other's activities. We demonstrate viewers for several mirror worlds we have created, including for the ACM conference venue in Nara.

Virtual, mobile, and mixed reality systems have diverse uses for data visualization and remote collaboration in industrial settings, especially factories. We report our experiences in designing complex mixed-reality collaboration, control, and display systems for a real-world factory, for delivering real-time factory information to multiple types of users. In collaboration with TCHO, a chocolate maker in San Francisco, our research group is building a virtual "mirror" world of a real-world chocolate factory and its processes. Sensor data is imported into the multi-user 3D environment from hundreds of sensors on the factory floor. The resulting "virtual factory" is designed for simulation, visualization, and collaboration, using a set of interlinked, real-time layers of information about the factory and its processes. We are also looking at appropriate industrial uses for mobile devices such as cell phones and tablet computers, and how they intersect with virtual worlds and mixed realities. For example, an experimental iPhone web app provides mobile laboratory monitoring and control. The mobile system is integrated with the database underlying the virtual factory world. These systems were deployed at the real-world factory and lab in 2009, and are now in beta development. Through this mashup of mobile, social, mixed and virtual technologies, we hope to create industrial systems for enhanced collaboration between physically remote people and places - for example, factories in China with managers in Japan or the US.

We propose an Augmented Reality (AR) system that helps users take a picture from a designated pose, such as the position and camera angle of an earlier photo. Repeat photography is frequently used to observe and document changes in an object. Our system uses AR technology to estimate camera poses in real time. When a user takes a photo, the camera pose is saved as a “view bookmark”. To support a user in taking a repeat photo, two simple graphics are rendered in an AR viewer on the camera's screen to guide the user to this bookmarked view. The system then uses image adjustment techniques to create an image based on the user's repeat photo that is even closer to the original.

We show several aspects of a complex mixed reality system that we have built and deployed in a real-world factory setting. In our system, virtual worlds, augmented realities, and social and mobile applications are all fed from the same infrastructure. In collaboration with TCHO[1], a chocolate maker in San Francisco, we built a virtual "mirror" world of a real-world chocolate factory and its processes. Sensor data is imported into the multi-user 3D environment from hundreds of sensors on the factory floor. The resulting virtual factory is used for simulation, visualization, and collaboration, using a set of interlinked, real-time layers of information. Another part of our infrastructure is designed to support appropriate industrial uses for mobile devices such as cell phones and tablet computers. We deployed this system at the real-world factory in 2009, and it is now is daily use there. By simultaneously developing mobile, virtual, and web-based display and collaboration environments, we aimed to create an infrastructure that did not skew toward one type of application but that could serve many at once, interchangeably. Through this mixture of mobile, social, mixed and virtual technologies, we hope to create systems for enhanced collaboration in industrial settings between physically remote people and places, such as factories in China with managers in the US.

This project investigates practical uses of virtual, mobile, and mixed reality systems in industrial settings, in particular control and collaboration applications for factories. In collaboration with TCHO, a chocolate maker start-up in San Francisco, we have built virtual mirror-world representations of a real-world chocolate factory and are importing its data and modeling its processes. The system integrates mobile devices such as cell phones and tablet computers. The resulting "virtual factory" is a cross-reality environment designed for simulation, visualization, and collaboration, using a set of interlinked, real-time 3D and 2D layers of information about the factory and its processes.

In this paper, we describe an automatic lighting adjustment method for browsing object images. From a set of images of an object, taken under different lighting conditions, we generate two types of illuminated images: a textural image which eliminates unwanted specular reflections of the object, and a highlight image in which specularities of the object are highly preserved. Our user interface allows viewers to digitally zoom into any region of the image, and the lighting adjusted images are automatically generated for the selected region and displayed. Switching between the textural and the highlight images helps viewers to understand characteristics of the object surface.

The Pantheia system enables users to create virtual models by `marking up' the real world with pre-printed markers. The markers have predefined meanings that guide the system as it creates models. Pantheia takes as input user captured images or video of the marked up space. This video illustrates the workings of the system and shows it being used to create three models, one of a cabinet, one of a lab, and one of a conference room. As part of the Pantheia system, we also developed a 3D viewer that spatially integrates a model with images of the model.

This video shows the Virtual Physics Circus, a kind of playground for experimenting with simple physical models. The system makes it easy to create worlds with common physical objects such as swings, vehicles, ramps, and walls, and interactively play with those worlds. The system can be used as a creative art medium as well as to gain understanding and intuition about physical systems. The system can be controlled by a number of UI devices such as mouse, keyboard, joystick, and tags which are tracked in 6 degrees of freedom.

In this paper we describe the analysis component of an indoor, real-time, multi-camera surveillance system. The analysis includes: (1) a novel feature-level foreground segmentation method which achieves efficient and reliable segmentation results even under complex conditions, (2) an efficient greedy search based approach for tracking multiple people through occlusion, and (3) a method for multi-camera handoff that associates individual trajectories in adjacent cameras. The analysis is used for an 18 camera surveillance system that has been running continuously in an indoor business over the past several months. Our experiments demonstrate that the processing method for people detection and tracking across multiple cameras is fast and robust.

DOTS (Dynamic Object Tracking System) is an indoor, real-time, multi-camera surveillance system, deployed in a real office setting. DOTS combines video analysis and user interface components to enable security personnel to effectively monitor views of interest and to perform tasks such as tracking a person. The video analysis component performs feature-level foreground segmentation with reliable results even under complex conditions. It incorporates an efficient greedy-search approach for tracking multiple people through occlusion and combines results from individual cameras into multi-camera trajectories. The user interface draws the users. attention to important events that are indexed for easy reference at a later time. Different views within the user interface provide spatial information for easier navigation. Our system, with over twenty video cameras installed in hallways and other public spaces in our office building, has been in constant use for almost a year.

People routinely rely on physical and electronic systems to remind themselves of details regarding personal and organizational contacts. These systems include rolodexes, directories and contact databases. In order to access details regarding contacts, users must typically shift their attention from tasks they are performing to the contact system itself in order to manually look-up contacts. This paper presents an approach for automatically retrieving contacts based on users' current context. Results are presented to users in a manner that does not disrupt their tasks, but which allows them to access contact details with a single interaction. The approach promotes the discovery of new contacts that users may not have found otherwise and supports serendipity.