Poster template

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3-D Positioning and Tracking System
The Polhemus Liberty 240/16 System

• System components
• The LIBERTY 240/16 This is the base system,
  supports up to 16 sensors, each operating at up
  to 240 Hz.
• Magnetic tracker unit A processing device that
  receives the magnetic information from the
  sensors.
• Magnetic sensor An magnetic device that
  generates an magnetic field.
• Polhemus PiMgr GUI Standard software from the
  manufacture to retrieve and graphically represent
  the information collected by the system.
• Define Frame Standard software used to define a
  specific magnetic work area and attenuating
  outside interference.
• MapCollect Standard software to collect and
  retrieve information on magnetic fields.

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• Characterized Measurement Capabilities
• The volume in which a Position Sensor can detect
  a marker is referred to as the detection region.
  This tracker has the ability to measure
• X, Y, Z Alignment
• ? Azimuth
• ? Elevation
• f Roll

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The Polhemus Liberty system is an 3D measurement
system used to track positions and orientation of
magnetic markers within a specific area.
Main Applications In medicine, biomechanics,
industry, research of spatial measurement or
other area that need a system to provide higly
accurate real-time 3D position and movement
measurement.
MRLab Applications
C
Nicole, the social robot The aim of the
Nicole-project is to develop a multipurpose
platform to investigate social interaction
between humans and robots. The current version
classifies gestures performed by a human actor
from a series of images taken by a single camera
and maps it to robot actions. The synchronously
collected trajectory data from the Polhemus
device is used in the learning phase and as
ground truth.
H
I
W
R
Robot Learning by Imitation Haptic and Visual
sensing We intend developing methods for
segmenting and classifying visual input for
recognizing human grasping behaviors as well as
methods for structuring the motor control system
for general grasp movements and
imitation-learning capabilities. We also intend
to develop an automatic acquisition of the human
hand model, by tracking human hand motion using
inputs from multiple synchronized video streams
and tracking data from electromagnetic markers to
accurately track the motion of hands grasping.
The video frames will be segmented and integrated
with data from haptic perception and the 3D voxel
reconstructions of the object shape in each frame
will compute to update a probabilistic occupancy
grid that will represent the object.
Polhemus Examples Tracking Movements
Gesture An gesture is an hand movement conveying
useful information. Examples are bye-bye, come
here, move in some direction or turn around
Expressive movements Expressive movements are
movements which have some expressing content in
terms of Laban Movement Analysis like, punch, an
yoga movement or advancing/retreating.
Manipulatory movements Manipulatory movements
are movements like grasping or placing object,
like grasping an coffee mug, pen, placing an
object on an table or grabbing/throwing some
object.
Bye-bye movement
Grasping Mug movement
Yoga movement
Move left movement
Grasping Bottle movement
Punch movement
Developed by the TESTA team Joerg Rett, Diego
Faria, Alberto Neves and Carlos Simplicio ProBT
is a C library for developing efficient
Bayesian software. http//www.probayes.com The
work was partially sponsored by BACS-project-6th
Framework Programme of the European Commission
contract number FP6-IST-027140, Action line
Cognitive Systems
Contacts Joerg Rett and Jorge Dias
http//www.deec.uc.pt/jrett http//www.deec.uc
.pt/jorge jrett jorge_at_isr.uc.pt