A Multi-aperture Coaxial Projector Balancing Shadow Suppression and Deblurring.

This paper proposes a projection system that optically removes the cast shadow in projection mapping. Specifically, we realize the large-aperture (LA) projection using a large-format Fresnel lens to suppress cast shadows by condensing the projection light from a wide viewing angle. However, the resolution and contrast of the projected results are significantly degraded by defocus blur, veiling glare, and stray light caused by the aberration of an LA Fresnel lens. To solve the technical problems, we employ two different approaches: optical and digital image processing methods. First, we introduce a residual projector with a typical aperture lens on the same optical axis as the LA projector, projecting the residual (i.e., high-frequency) components attenuated in the LA projection. These projectors play different roles in shadow suppression and blur compensation, both achieved by projecting simultaneously. Secondly, we optimize the pair of projection images that can balance the shadow suppression and deblurring performance of our projection system. We implemented a proof-of-concept prototype and validated the above-mentioned techniques through projection experiments and a user study.

Projection mapping technologies: A review of current trends and future directions.

This study summarizes current trends and future directions in projection mapping technologies. Projection mapping seamlessly merges the virtual and real worlds through projected imagery onto physical surfaces, creating an augmented reality environment. Beyond traditional applications in advertising, art, and entertainment, various fields, including medical surgery, product design, and telecommunications, have embraced projection mapping. This study categorizes recent techniques that address technical challenges in accurately replicating desired appearances on physical surfaces through projected imagery into four groups: geometric registration, radiometric compensation, defocus compensation, and shadow removal. It subsequently introduces unconventional projectors developed to resolve specific technical issues and discusses two approaches for overcoming the inherent limitations of projector hardware, such as the inability to display images floating above physical surfaces. Finally, this study concludes the discussion with possible future directions for projection mapping technologies.

Projection Mapping under Environmental Lighting by Replacing Room Lights with Heterogeneous Projectors.

Projection mapping (PM) is a technique that enhances the appearance of real-world surfaces using projected images, enabling multiple people to view augmentations simultaneously, thereby facilitating communication and collaboration. However, PM typically requires a dark environment to achieve high-quality projections, limiting its practicality. In this paper, we overcome this limitation by replacing conventional room lighting with heterogeneous projectors. These projectors replicate environmental lighting by selectively illuminating the scene, excluding the projection target. Our contributions include a distributed projector optimization framework designed to effectively replicate environmental lighting and the incorporation of a large-aperture projector, in addition to standard projectors, to reduce high-luminance emitted rays and hard shadows-undesirable factors for collaborative tasks in PM. We conducted a series of quantitative and qualitative experiments, including user studies, to validate our approach. Our findings demonstrate t hat our projector-based lighting system significantly enhancesthe contrast and realism of PM results even under e nvironmental lighting compared to typical lights. Furthermore, our method facilitates a substantial shift in the perceived color mode from the undesirable aperture-color mode, where observers perceive the projected object as self-luminous, to the surface-color mode in PM.

Efficient Distortion-Free Neural Projector Deblurring in Dynamic Projection Mapping.

Dynamic Projection Mapping (DPM) necessitates geometric compensation of the projection image based on the position and orientation of moving objects. Additionally, the projector's shallow depth of field results in pronounced defocus blur even with minimal object movement. Achieving delay-free DPM with high image quality requires real-time implementation of geometric compensation and projector deblurring. To meet this demand, we propose a framework comprising two neural components: one for geometric compensation and another for projector deblurring. The former component warps the image by detecting the optical flow of each pixel in both the projection and captured images. The latter component performs real-time sharpening as needed. Ideally, our network's parameters should be trained on data acquired in an actual environment. However, training the network from scratch while executing DPM, which demands real-time image generation, is impractical. Therefore, the network must undergo pre-training. Unfortunately, there are no publicly available large real datasets for DPM due to the diverse image quality degradation patterns. To address this challenge, we propose a realistic synthetic data generation method that numerically models geometric distortion and defocus blur in real-world DPM. Through exhaustive experiments, we have confirmed that the model trained on the proposed dataset achieves projector deblurring in the presence of geometric distortions with a quality comparable to state-of-the-art methods.

Neural Projection Mapping Using Reflectance Fields.

We introduce a high resolution spatially adaptive light source, or a projector, into a neural reflectance field that allows to both calibrate the projector and photo realistic light editing. The projected texture is fully differentiable with respect to all scene parameters, and can be optimized to yield a desired appearance suitable for applications in augmented reality and projection mapping. Our neural field consists of three neural networks, estimating geometry, material, and transmittance. Using an analytical BRDF model and carefully selected projection patterns, our acquisition process is simple and intuitive, featuring a fixed uncalibrated projected and a handheld camera with a co-located light source. As we demonstrate, the virtual projector incorporated into the pipeline improves scene understanding and enables various projection mapping applications, alleviating the need for time consuming calibration steps performed in a traditional setting per view or projector location. In addition to enabling novel viewpoint synthesis, we demonstrate state-of-the-art performance projector compensation for novel viewpoints, improvement over the baselines in material and scene reconstruction, and three simply implemented scenarios where projection image optimization is performed, including the use of a 2D generative model to consistently dictate scene appearance from multiple viewpoints. We believe that neural projection mapping opens up the door to novel and exciting downstream tasks, through the joint optimization of the scene and projection images.

Shadowless Projection Mapping using Retrotransmissive Optics.

This paper presents a shadowless projection mapping system for interactive applications in which a target surface is frequently occluded from a projector with a user's body. We propose a delay-free optical solution for this critical problem. Specifically, as the primary technical contribution, we apply a large format retrotransmissive plate to project images onto the target surface from wide viewing angles. We also tackle technical issues unique to the proposed shadowless principle. First, the retrotransmissive optics inevitably suffer from stray light, which leads to significant contrast degradation of the projected result. We propose to block the stray light by covering the retrotransmissive plate with a spatial mask. Because the mask reduces not only the stray light but the achievable luminance of the projected result, we develop a computational algorithm that determines the shape of the mask to balance the image quality. Second, we propose a touch sensing technique by leveraging the optically bidirectional property of the retrotransmissive plate to support interaction between the user and the projected contents on the target object. We implement a proof-of-concept prototype and validate the above-mentioned techniques through experiments.

HaptoMapping: Visuo-Haptic Augmented Reality by Embedding User-Imperceptible Tactile Display Control Signals in a Projected Image.

This article proposes HaptoMapping, a projection-based visuo-haptic augmented reality (VHAR) system, that can render visual and haptic content independently and present consistent visuo-haptic sensations on physical surfaces. HaptoMapping controls wearable haptic displays by embedded control signals that are imperceptible to the user in projected images using a pixel-level visible light communication technique. The prototype system is comprised of a high-speed projector and three types of haptic devices-finger worn, stylus, and arm mounted. The finger-worn and stylus devices present vibrotactile sensations to a user's fingertips. The arm-mounted device presents stroking sensations on a user's forearm using arrayed actuators with a synchronized hand projection mapping. We identified that the developed system's maximum latency of haptic from visual sensations was 93.4 ms. We conducted user studies on the latency perception of our VHAR system. The results revealed that the developed haptic devices can present haptic sensations without user-perceivable latencies, and the visual-haptic latency tolerance of our VHAR system was 100, 159, 500 ms for the finger-worn, stylus, and arm-mounted devices, respectively. Another user study with the arm-mounted device discovered that the visuo-haptic stroking system maintained both continuity and pleasantness when the spacing between each substrate was relatively sparse, such as 20 mm, and significantly improved both the continuity and pleasantness at 80 and 150 mm/s when compared to the haptic only stroking system. Lastly, we introduced four potential applications in daily scenes. Our system methodology allows for a wide range of VHAR application design without concern for latency and misalignment effects.

A Monocular Projector-Camera System Using Modular Architecture.

This paper presents a monocular projector-camera (procam) system using modular architecture based on relay optics. Conventional coaxial procam systems cannot support (1) online changes to lens settings (zoom and focus) and (2) wide-angle projection mapping. We develop design guidelines for a proposed procam system that would solve these restrictions and address the proposed system's unique technical issue of crosstalk between the camera and projector pixels. We conducted experiments using prototypes to validate the feasibility of the proposed framework. First, we confirmed that the proposed crosstalk reduction technique worked well. Second, we found our technique could achieve correct alignment of a projected image onto a moving surface while changing the zoom and focus of the objective lens. The monocular procam system also achieved radiometric compensation where a surface texture was visually concealed by pixel-wise control of a projection color based on the captured results of offline color pattern projections. Finally, we demonstrated the high expandability of our modular architecture, through the creation of a high dynamic range projection.

3D model of the geometric nest structure, the "mystery circle," constructed by pufferfish.

A small pufferfish, Torquigener albomaculosus, is known to construct an elaborate geometric circular structure, which has been referred to as a "mystery circle," with a diameter of ~2 m in the sand of the seabed. We reconstructed a 3D model of this structure for the first time using a "structure from motion" (SfM) algorithm. The mystery circle constructed by the pufferfish may have potential applications for biomimetics similar to the structures constructed by termites and prairie dogs. To support the significance of its structural characteristics, it was observed that the water passing through the valley upstream always gathers in the center of the structure, regardless of the direction of water flow. Furthermore, it has the function of extracting fine-grained sand particles from the valleys and directing these to the center. Computational fluid analysis can be performed immediately using the quantified 3D data, and the structural features of the mystery circle is expected to be applied in a wide range of fields, such as architecture and engineering, via biomimetics.

Online Projector Deblurring Using a Convolutional Neural Network.

Projector deblurring is an important technology for dynamic projection mapping (PM), where the distance between a projector and a projection surface changes in time. However, conventional projector deblurring techniques do not support dynamic PM because they need to project calibration patterns to estimate the amount of defocus blur each time the surface moves. We present a deep neural network that can compensate for defocus blur in dynamic PM. The primary contribution of this paper is a unique network structure that consists of an extractor and a generator. The extractor explicitly estimates a defocus blur map and a luminance attenuation map. These maps are then injected into the middle layers of the generator network that computes the compensation image. We also propose a pseudo-projection technique for synthesizing physically plausible training data, considering the geometric misregistration that potentially happens in actual PM systems. We conducted simulation and actual PM experiments and confirmed that: (1) the proposed network structure is more suitable than a simple, more general structure for projector deblurring; (2) the network trained with the proposed pseudo-projection technique can compensate projection images for defocus blur artifacts in dynamic PM; and (3) the network supports the translation speed of the surface movement within a certain range that covers normal human motions.

Multifocal Stereoscopic Projection Mapping.

Stereoscopic projection mapping (PM) allows a user to see a three-dimensional (3D) computer-generated (CG) object floating over physical surfaces of arbitrary shapes around us using projected imagery. However, the current stereoscopic PM technology only satisfies binocular cues and is not capable of providing correct focus cues, which causes a vergence-accommodation conflict (VAC). Therefore, we propose a multifocal approach to mitigate VAC in stereoscopic PM. Our primary technical contribution is to attach electrically focus-tunable lenses (ETLs) to active shutter glasses to control both vergence and accommodation. Specifically, we apply fast and periodical focal sweeps to the ETLs, which causes the "virtual image" (as an optical term) of a scene observed through the ETLs to move back and forth during each sweep period. A 3D CG object is projected from a synchronized high-speed projector only when the virtual image of the projected imagery is located at a desired distance. This provides an observer with the correct focus cues required. In this study, we solve three technical issues that are unique to stereoscopic PM: (1) The 3D CG object is displayed on non-planar and even moving surfaces; (2) the physical surfaces need to be shown without the focus modulation; (3) the shutter glasses additionally need to be synchronized with the ETLs and the projector. We also develop a novel compensation technique to deal with the "lens breathing" artifact that varies the retinal size of the virtual image through focal length modulation. Further, using a proof-of-concept prototype, we demonstrate that our technique can present the virtual image of a target 3D CG object at the correct depth. Finally, we validate the advantage provided by our technique by comparing it with conventional stereoscopic PM using a user study on a depth-matching task.

Directionally Decomposing Structured Light for Projector Calibration.

Intrinsic projector calibration is essential in projection mapping (PM) applications, especially in dynamic PM. However, due to the shallow depth-of-field (DOF) of a projector, more work is needed to ensure accurate calibration. We aim to estimate the intrinsic parameters of a projector while avoiding the limitation of shallow DOF. As the core of our technique, we present a practical calibration device that requires a minimal working volume directly in front of the projector lens regardless of the projector's focusing distance and aperture size. The device consists of a flat-bed scanner and pinhole-array masks. For calibration, a projector projects a series of structured light patterns in the device. The pinholes directionally decompose the structured light, and only the projected rays that pass through the pinholes hit the scanner plane. For each pinhole, we extract a ray passing through the optical center of the projector. Consequently, we regard the projector as a pinhole projector that projects the extracted rays only, and we calibrate the projector by applying the standard camera calibration technique, which assumes a pinhole camera model. Using a proof-of-concept prototype, we demonstrate that our technique can calibrate projectors with different focusing distances and aperture sizes at the same accuracy as a conventional method. Finally, we confirm that our technique can provide intrinsic parameters accurate enough for a dynamic PM application, even when a projector is placed too far from a projection target for a conventional method to calibrate the projector using a fiducial object of reasonable size.

IlluminatedZoom: spatially varying magnified vision using periodically zooming eyeglasses and a high-speed projector.

Spatial zooming and magnification, which control the size of only a portion of a scene while maintaining its context, is an essential interaction technique in augmented reality (AR) systems. It has been applied in various AR applications including surgical navigation, visual search support, and human behavior control. However, spatial zooming has been implemented only on video see-through displays and not been supported by optical see-through displays. It is not trivial to achieve spatial zooming of an observed real scene using near-eye optics. This paper presents the first optical see-through spatial zooming glasses which enables interactive control of the perceived sizes of real-world appearances in a spatially varying manner. The key to our technique is the combination of periodically fast zooming eyeglasses and a synchronized high-speed projector. We stack two electrically focus-tunable lenses (ETLs) for each eyeglass and sweep their focal lengths to modulate the magnification periodically from one (unmagnified) to higher (magnified) at 60 Hz in a manner that prevents a user from perceiving the modulation. We use a 1,000 fps high-speed projector to provide high-resolution spatial illumination for the real scene around the user. A portion of the scene that is to appear magnified is illuminated by the projector when the magnification is greater than one, while the other part is illuminated when the magnification is equal to one. Through experiments, we demonstrate the spatial zooming results of up to 30% magnification using a prototype system. Our technique has the potential to expand the application field of spatial zooming interaction in optical see-through AR.

Computational Phase-Modulated Eyeglasses.

We present computational phase-modulated eyeglasses, a see-through optical system that modulates the view of the user using phase-only spatial light modulators (PSLM). A PSLM is a programmable reflective device that can selectively retardate, or delay, the incoming light rays. As a result, a PSLM works as a computational dynamic lens device. We demonstrate our computational phase-modulated eyeglasses with either a single PSLM or dual PSLMs and show that the concept can realize various optical operations including focus correction, bi-focus, image shift, and field of view manipulation, namely optical zoom. Compared to other programmable optics, computational phase-modulated eyeglasses have the advantage in terms of its versatility. In addition, we also presents some prototypical focus-loop applications where the lens is dynamically optimized based on distances of objects observed by a scene camera. We further discuss the implementation, applications but also discuss limitations of the current prototypes and remaining issues that need to be addressed in future research.

ProDebNet: projector deblurring using a convolutional neural network.

Projection blur can occur in practical use cases that have non-planar and/or multi-projection display surfaces with various scattering characteristics because the surface often causes defocus and subsurface scattering. To address this issue, we propose ProDebNet, an end-to-end real-time projection deblurring network that synthesizes a projection image to minimize projection blur. The proposed method generates a projection image without explicitly estimating any geometry or scattering characteristics of the projection screen, which makes real-time processing possible. In addition, ProDebNet does not require real captured images for training data; we design a "pseudo-projected" synthetic dataset that is well-generalized to real-world blur data. Experimental results demonstrate that the proposed ProDebNet compensates for two dominant types of projection blur, i.e., defocus blur and subsurface blur, significantly faster than the baseline method, even in a real-projection scene.

Illuminated Focus: Vision Augmentation using Spatial Defocusing via Focal Sweep Eyeglasses and High-Speed Projector.

Aiming at realizing novel vision augmentation experiences, this paper proposes the IlluminatedFocus technique, which spatially defocuses real-world appearances regardless of the distance from the user's eyes to observed real objects. With the proposed technique, a part of a real object in an image appears blurred, while the fine details of the other part at the same distance remain visible. We apply Electrically Focus-Tunable Lenses (ETL) as eyeglasses and a synchronized high-speed projector as illumination for a real scene. We periodically modulate the focal lengths of the glasses (focal sweep) at more than 60 Hz so that a wearer cannot perceive the modulation. A part of the scene to appear focused is illuminated by the projector when it is in focus of the user's eyes, while another part to appear blurred is illuminated when it is out of the focus. As the basis of our spatial focus control, we build mathematical models to predict the range of distance from the ETL within which real objects become blurred on the retina of a user. Based on the blur range, we discuss a design guideline for effective illumination timing and focal sweep range. We also model the apparent size of a real scene altered by the focal length modulation. This leads to an undesirable visible seam between focused and blurred areas. We solve this unique problem by gradually blending the two areas. Finally, we demonstrate the feasibility of our proposal by implementing various vision augmentation applications.

FibAR: Embedding Optical Fibers in 3D Printed Objects for Active Markers in Dynamic Projection Mapping.

This paper presents a novel active marker for dynamic projection mapping (PM) that emits a temporal blinking pattern of infrared (IR) light representing its ID. We used a multi-material three dimensional (3D) printer to fabricate a projection object with optical fibers that can guide IR light from LEDs attached on the bottom of the object. The aperture of an optical fiber is typically very small; thus, it is unnoticeable to human observers under projection and can be placed on a strongly curved part of a projection surface. In addition, the working range of our system can be larger than previous marker-based methods as the blinking patterns can theoretically be recognized by a camera placed at a wide range of distances from markers. We propose an automatic marker placement algorithm to spread multiple active markers over the surface of a projection object such that its pose can be robustly estimated using captured images from arbitrary directions. We also propose an optimization framework for determining the routes of the optical fibers in such a way that collisions of the fibers can be avoided while minimizing the loss of light intensity in the fibers. Through experiments conducted using three fabricated objects containing strongly curved surfaces, we confirmed that the proposed method can achieve accurate dynamic PMs in a significantly wide working range.

FleXeen: Visually Manipulating Perceived Fabric Bending Stiffness in Spatial Augmented Reality.

The appearance of fabric motion is suggested to affect the human perception of bending stiffness. This study presents a novel spatial augmented reality, or projection mapping, approach that can visually manipulate the perceived bending stiffness of a fabric. Particularly, we proposed a flow enhancement method that can change the apparent fabric motion by using a simple optical flow analysis technique rather than complex physical simulations for interactive applications. Through a psychophysical experiment, we investigated the relationship between the magnification factor of our flow enhancement and the perceived bending stiffness of a fabric. Furthermore, we constructed a prototype application system that allows users to control the stiffness of a fabric without changing the actual physical fabric. By evaluating the prototype, we confirmed that the proposed technique can manipulate the perceived stiffness of various materials (i.e., cotton, polyester, and mixed cotton and linen) at an average accuracy of 90.3 percent.

Immersive Virtual Reality Reminiscence Reduces Anxiety in the Oldest-Old Without Causing Serious Side Effects: A Single-Center, Pilot, and Randomized Crossover Study.

Background: Dementia is one the major problems of aging societies, and, novel and effective non-drug therapies are required as interventions in the oldest-old to prevent cognitive decline. Objective: This study aims to examine the efficacy and safety of reminiscence using immersive virtual reality (iVR reminiscence) focusing on anxiety that often appears with cognitive decline. The secondary objective is to reveal the preference for VR image types for reminiscence: live-action (LA) or computer graphics (CG). Methods: This was a pilot, open-label, and randomized crossover study which was conducted on January 2020 at a single nursing home. The subjects were randomly divided into two groups (A or B) in equal numbers, and they alternately viewed two types of VR images (LA and CG) themed on the mid- to late Showa era (A.D. 1955-1980) in Japan. In group A, the CG images were viewed first, and then the LA images were viewed (CG→ LA). In group B, the images were viewed in the opposite order (LA→ CG). Before VR viewing, subjects responded to Mini-Mental State Examination (MMSE) Japanese version and State-Trait Anxiety Inventory (STAI) Japanese version. After viewing the first and second VR, subjects responded to STAI and the numerical rating scale (NRS) for satisfaction and side effects (nausea, dizziness, headache, and tiredness). Results: Ten subjects participated in this study. The values of analyses are presented in the mean (SD). The age was 87.1 years (4.2), and the MMSE was 28.5 (1.8). The total STAI score before VR viewing was 36.1 (7.2), but it significantly decreased to 26.8 (4.9) after the first VR viewing (P = 0.0010), and further decreased to 23.4 (2.8) after the second VR viewing (P < 0.001). The NRS score for satisfaction tended to be higher after viewing LA in group A (CG→ LA) (CG vs. LA; 7.0 (2.3) vs. 8.6 (1.5), P = 0.0993), while in group B (LA→ CG), the score after CG was slightly lower than that after LA. There were no serious side effects. Conclusions: This study suggests that iVR reminiscence can reduce anxiety in the oldest-old without causing serious side effects. Furthermore, the impacts might be better with LA images.

Speeded-Up Focus Control of Electrically Tunable Lens by Sparse Optimization.

Electrically tunable lenses (ETL), also known as liquid lenses, can be focused at various distances by changing the electric signal applied on the lens. ETLs require no mechanical structures, and therefore, provide a more compact and inexpensive focus control than conventional computerized translation stages. They have been exploited in a wide range of imaging and display systems and enabled novel applications for the last several years. However, the optical fluid in the ETL is rippled after the actuation, which physically limits the response time and significantly hampers the applicability range. To alleviate this problem, we apply a sparse optimization framework that optimizes the temporal pattern of the electrical signal input to the ETL. In verification experiments, the proposed method accelerated the convergence of the focal length to the target patterns. In particular, it converged the optical power to the target at twice the speed of the simply determined input signal, and increased the quality of the captured image during multi-focal imaging.