A Mixed-Reality Platform for Robotics and Intelligent Vehicles

Abstract: Mixed Reality is the combination of the real world with a virtual one. In robotics thisopens many opportunities to improve the existing ways of development and testing. Thetools that Mixed Reality gives us, can speed up the development process and increasesafety during the testing stages. They can make prototyping faster and cheaper, and canboost the development and debugging process thanks to visualization and new opportunitiesfor automated testing.In this thesis the steps to build a working prototype demonstrator of a Mixed Realitysystem are covered. From selecting the required components, over integrating them intofunctional subsystems, to building a fully working demonstration system.The demonstrator uses optical tracking to gather information about the real world environment.It incorporates this data into a virtual representation of the world. This allowsthe simulation to let virtual and physical objects interact with each other. The results ofthe simulation are then visualized back into the real world.The presented system has been implemented and successfully tested at the HalmstadUniversity.