The aim of the diploma thesis was to design a complete controller device with six degrees of freedom for use in computer simulators. After the analysis of current available devices, a model of mechanism was created for production using a 3D printer. Subsequently, electronics and utility software were designed to process received sensor readings. Finally, the finished device was tested in several applications.

ITC/USA 2006 Conference Proceedings / The Forty-Second Annual International Telemetering Conference and Technical Exhibition / October 23-26, 2006 / Town and Country Resort & Convention Center, San Diego, California / The Image Data Automated Processing System (IDAPS), developed by the 96th Communications Group Test and Analysis Division at Eglin AFB, uses a CAD-based image matching technique to calculate a 6DOF trajectory of a store separation event. The system has been used successfully for single camera release sequences, but needed to be extended for multi-camera releases. This is vital for bomber missions where several cameras are needed to cover a store separation event.

ITC/USA 2005 Conference Proceedings / The Forty-First Annual International Telemetering Conference and Technical Exhibition / October 24-27, 2005 / Riviera Hotel & Convention Center, Las Vegas, Nevada / The Image Data Automated Processing System (IDAPS), used by the 96th Communications Group, Test and Analysis Division at Eglin AFB, has proven to be a valuable tool for evaluating flight releases of fuel tanks, bombs, missiles, and other stores. The legacy VMS-based system can digitize 16mm or 35mm film and superimpose a computer-generated model over the store, allowing the user to calculate a 6DOF trajectory. This paper describes upgrades to the system, including re-hosting from a VMS/Alpha VME rack-based system to a Linux-based PC system and adding color image capability, increased image resolution, image enhancement, and CADbased modeling of stores.

ITC/USA 2007 Conference Proceedings / The Forty-Third Annual International Telemetering Conference and Technical Exhibition / October 22-25, 2007 / Riviera Hotel & Convention Center, Las Vegas, Nevada / The Image Data Automated Processing System (IDAPS), developed by the 96th Communications Group Test and Analysis Division at Eglin AFB, uses a CAD-based image matching technique to calculate a trajectory of a store separation event. The latest evolution of this system has been in production for several years and has proven to be both an accurate and a valuable tool for evaluating flight releases of bombs, fuel tanks, missiles, and other stores. This paper describes a prototype capability that is being developed for assessing fin and wing deployment angles.

Accurately determining one’s location has long been a persistent problem in navigation and has reappeared in recent years in the field of mobile computing. The ability to determine a device’s location indoors is needed for both automation and efficient communication in collaborative robotic and sensor networks. Technologies such as indoor GPS transmitters and Cricket have been employed, but have had limited success due to cost, accuracy, and power consumption. The Inertial Solution for Accurately Assessing location Coordinates (ISAAC) was developed as a means of filling this need without requiring infrastructure or expensive components to accurately determine position, inside or outside. ISAAC is based on modified six-degrees-of-freedom (6DOF) dead reckoning algorithms currently being used by Unmanned Aerial Vehicles (UAV). UAVs typically have access to other types of sensors to supplement and/or replace the IMU measurements. ISAAC was implemented using a low-cost MEMS 6DOF IMU in which the onboard firmware was modified to incorporate the dead reckoning calculations and communications necessary to realize ISAAC. ISAAC was implemented as a portable unit which communicated with a host computer through an RS-232 interface. ISAAC did not perform as well as expected; the location coordinates were very inconsistent with device movements and did not produce any useful data. The correct intermediate results of the calculations and subsequent review by a local subject-matter-expert implies that the source of the erroneous results lie with the accuracy and precision of the MEMS IMU. ISAAC presents a foundation for future work where more robust sensors and/or filtering can be used for further examination of inertial-based location systems. / text

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Monocular 6DoF pose tracking has many applications in augmented reality, robotics and other areas and because of the rise of deep learning new approaches such as category-level models are successful. The temporal information in sequential data is essential for both online and offline tasks, which can help boost the quality of predictions while encountering some unexpected influences like occlusions and vibration. In 2D object detection and tracking, substantial research has been done in leveraging temporal information to improve the performance of the model. Nevertheless, it is challenging to lift the temporal processing to 3D space because of the ambiguity of the visual data. In this thesis, we propose a method to calculate the temporal difference of points and pixels assuming that the K nearest points share similar features. The extracted features from the difference are learned to weigh the relevant points in the temporal sequence and aggregate them to provide support to the current frame's prediction. We propose a novel difference-based temporal module to incorporate both RGB and 3D points data in a temporal sequence. This module can be easily integrated with any category-level 6DoF pose tracking model which uses RGB and 3D points as input. We evaluate this module on two state-of-the-art category-level 6D pose tracking models and the result shows that it can increase the model's accuracy and robustness in complex scenarios.

No description available.

<p>This thesis was performed at the research centre CINECA in Bologna, Italy. An interface with six degrees of freedom, 6DOF, to be used in a virtual environ- ment for the positioning of medical components was developed in co-operation with IOR, one of the most important orthopaedic hospitals in Italy. The main reason for doing this was to find out whether or not a virtual en-viron-ment and 6DOF interaction could make the pre-operative planning of an ope-ration more efficient compared to other techniques. Is it easy to posi-tion an object using stereovision and a 6DOF tracker tool? Further-more, the interface might also be used in other applications and areas in the future. </p><p>Described is the development of an interaction class especially constructed for the use of a tracking tool called a stylus pen. This tool takes advantage of all 6DOF, i.e. it recognises movements in the x, y and z directions and likewise the orientation of the tool around the three axis. Moreover, an application which uses the interaction class was created in order to evaluate its usefulness. The application enables the user to load, save and position objects within a virtual environment. The result of this evaluation is then described and discussed. </p><p>In the evaluations it was shown that the stylus pen with 6DOF is an intuitive in-ter-action tool which works well for positioning. The stereovision also seems to further improve the users ability to position objects. However, the created interaction class needs to be further developed before itcan be implemented in a pre-operative planning tool.</p>

This thesis was performed at the research centre CINECA in Bologna, Italy. An interface with six degrees of freedom, 6DOF, to be used in a virtual environ- ment for the positioning of medical components was developed in co-operation with IOR, one of the most important orthopaedic hospitals in Italy. The main reason for doing this was to find out whether or not a virtual en-viron-ment and 6DOF interaction could make the pre-operative planning of an ope-ration more efficient compared to other techniques. Is it easy to posi-tion an object using stereovision and a 6DOF tracker tool? Further-more, the interface might also be used in other applications and areas in the future. Described is the development of an interaction class especially constructed for the use of a tracking tool called a stylus pen. This tool takes advantage of all 6DOF, i.e. it recognises movements in the x, y and z directions and likewise the orientation of the tool around the three axis. Moreover, an application which uses the interaction class was created in order to evaluate its usefulness. The application enables the user to load, save and position objects within a virtual environment. The result of this evaluation is then described and discussed. In the evaluations it was shown that the stylus pen with 6DOF is an intuitive in-ter-action tool which works well for positioning. The stereovision also seems to further improve the users ability to position objects. However, the created interaction class needs to be further developed before itcan be implemented in a pre-operative planning tool.