Pattern-based pose estimation for Tactile Internet

Bachelor thesis (2023)

Authors

M.L.L. Craenen Electrical Engineering, Mathematics and Computer Science

Contributors

R.V. Prasad Networked Systems (mentor)
Kees Kroep Networked Systems (mentor)
Michael Weinmann Computer Graphics and Visualisation (graduation committee member)
Faculty
Electrical Engineering, Mathematics and Computer Science, Electrical Engineering, Mathematics and Computer Science
Copyright: © 2023 Marijn Craenen
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Published Date

28-06-2023

Language

English

Reuse Rights

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Faculty

Electrical Engineering, Mathematics and Computer Science

Abstract

The Tactile Internet (TI) is a new paradigm for remote interactions, enabling the transmission of touch and physical sensations. One of the major challenges in achieving seamless remote interactions is latency. To circumvent strict latency requirements, the paper briefly introduces the approach of a Model Mediated Teleoperation scheme utilizing a locally run physics engine to simulate the remote environment.

The focus of this paper is on solving the problem of tracking objects in TI workspaces, to be able to simulate them.
We developed a pattern recognition-based pose estimation technique using OpenCV's Perspective-n-Point solver, which accurately estimates the pose of objects in real time.
Further contributions include the implementation of a virtual test bed in the Unity game engine. The solver and test bed were integrated with a Python Flask server. This approach proved to be effective in providing accurate position and rotation estimation.

Files

MLLCraenen_CSE3000_Final.pdf
(pdf | 1.12 Mb)
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