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Correct vhar system equations

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Erwan Normand
2024-11-12 18:40:55 +01:00
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1-introduction/introduction.tex
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@@ -99,7 +99,7 @@ For example, (visual) \AR using a real object as a proxy to manipulate a virtual
In this thesis we call \AR/\VR \emph{systems} the computational set of hardware (input devices, sensors, displays and haptic devices) and software (tracking, simulation and rendering) that allows the user to interact with the \VE. % by implementing the interaction loop we proposed in \figref{interaction-loop}.
Many \AR displays have been explored, from projection systems to hand-held displays.
\textbf{\AR headsets are the most promising display technology as they are portable and provide the user with an immersive augmented environment} \cite{hertel2021taxonomy}.
Commercial headsets also have integrated real-time self-location and mapping of the \RE and hand tracking of the user.
Commercial headsets also have integrated real-time self-location and mapping of the \RE and hand pose estimation of the user.
While \AR and \VR systems can address any of the human senses, most focus only on visual augmentation \cite[p.144]{billinghurst2015survey} and \cite{kim2018revisiting}.
%but the most \textbf{promising devices are \AR headsets}, which are \textbf{portable displays worn directly on the head}, providing the user with an \textbf{immersive visual augmented environment}.
@@ -284,7 +284,7 @@ We evaluate how the visual feedback of the hand (real or virtual), the environme
In \textbf{\chapref{vhar_system}}, we design and implement a system for rendering visuo-haptic virtual textures that augment real surfaces. %, using an immersive \OST-\AR headset and a wearable vibrotactile device.
The haptic textures represent a periodical patterned texture rendered by a wearable vibrotactile actuator worn on the middle phalanx of the finger touching the surface.
The tracking of the real hand and the environment is achieved using a marker-based technique.
The pose estimation of the real hand and the environment is achieved using a vision-based technique.
The visual rendering is done using the immersive \OST-\AR headset Microsoft HoloLens~2.
The system allows free visual and haptic exploration of the textures, as if they were real, and forms the basis of the next two chapters.