A Mixed Reality Simulation for Robotic Systems

Abstract

In interventional angiography, kinematic simulation of robotic system prototypes in early development phases facilitates the detection of design errors. In this work, a game engine visualization with output is developed for such a robotic simulation. The goal of this is a better perception of the prototype by more realistic visualization. The achieved realism is evaluated in a user study. Additionally, the inclusion of real rooms� walls into the simulation�s collision model is tested and evaluated, to verify smartglasses as a tool for interactive room planning. The walls are reconstructed from point clouds using a mean shift segmentation and RANSAC. Afterwards, the obtained wall estimates are ordered using a simple neighborhood graph.