Examples

We filmed a sequence of a pillar standing in front of our department. Using the AR-System we placed a virtual box on top of this pillar. Note that by doing so we didn't have to solve the occlusion problem as the box was never occluded since we were looking down onto the pillar. The AR-System performed quite well. The `jittering' of the virtual box on top of the pillar is still noticeable but very small. See Figure 8.18.

Figure 8.18: A virtual box is placed on top of a real pillar. `Jittering' is still noticeable in the augmented video sequence but is very small.

Another example shows a walk through a street. The camera motion of the person taking the film was far from smooth. However the AR-System managed to register each camera position quite well. See Figure 8.19.

Figure 8.19: A street scene: The virtual box seems to stay firmly in place despite the jagged nature of the camera trajectory.

A third example shows another street scene but with a person walking around in it. Despite this moving real object the motion and structure recovery algorithm extracted the correct camera motion. See Figure 8.20.

Figure 8.20: Another street scene: Despite the moving person the motion of the camera can be extracted and used for augmenting the real environment with virtual objects.

All video examples can be found at
http://www.esat.kuleuven.ac.be/$\sim$kcorneli/smile2.