Design and implementation of a head tracking controlled pan and tilt vision system

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Makina Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2013

Öğrenci: HASAN ÖLMEZ

Danışman: ERHAN İLHAN KONUKSEVEN

Özet:

Head tracking applications are getting widely used in robotics implementations such as in military industry for surveillance applications of remote controlled unmanned vehicles, in medical applications for heart and vessel surgeries, in entertainment and game applications for virtual reality. It can be used for helping the operator of teleoperated unmanned vehicle with improving his performance by decreasing workload and managing stress. Head tracking is a challenging application due to real time tracking and synchronization problem. Considering this challenging, in this thesis head tracking controlled pan, tilt and roll vision system is accomplished. Head tracking is achieved with an orientation sensor which has 3-axis accelerometer, angular rate sensor, and compass sensor modules. With these modules the sensor can measure orientation in all three dimensions. This sensor is fixed on a polystyrene helmet which enables operator to fix the sensor on his head. With the motion of the operator’s head, the position change is tracked. This tracked data is used to control pan-tilt-roll mechanism that a 3D video camera fixed on it. From this video camera a captured video is transferred to a head mounted display on 2D-3D and/or on a 6 LED monitors display system on 2D. At the end of the thesis, for validating the system two different experiments are made, one of them for the differences between 2D and 3D vision on HMD and the other is for testing 6 LED monitors display and HMD with 2D vision. These tests are done for looking the performance of operators on different displays (HMD and 6 LED monitors) and on vision types (2D-3D).