This paper describes an evaluation system using an industrial robot, constructed for the purpose of evaluating registration technology for Mixed Reality. In this evaluation system, the tip of the robot arm plays the role of the user's head, where a head- mounted display is mounted. By using an industrial robot, we can obtain the ground truth of the camera pose with a high level of accuracy and robustness. Additionally, we have the ability to play back the same specified operations repeatedly under identical conditions. In addition to the system implementation, we propose evaluation methods for motion robustness, relative orientation robustness, relative distance robustness, jitter, and an overall evaluation. We verify the validity of this system through some experiments.

This paper describes a platform package, called "MR Platform," which we have been implementing for research and development of augmented reality technology and applications. This package includes a parallax-less stereo video see-through HMD and a software development kit (SDK) for a Linux PC environment. The SDK is composed of a C++ class library for making runtime MR applications and related utilities such as a camera calibration tool. By using the SDK, the following functions are available: capturing video, handling a six degree-of-freedom (DOF) sensor, image processing such as color detection, estimating head position and orientation, displaying the real world image, and calibrating sensor placement and camera parameters of two cameras mounted on the HMD.