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Robert Wang


Publications by Robert Wang (bibliography)

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Wang, Robert, Paris, Sylvain and Popovic;, A Jovan (2011): 6D hands: markerless hand-tracking for computer aided design. In: Proceedings of the 2011 ACM Symposium on User Interface Software and Technology 2011. pp. 549-558. http://dx.doi.org/10.1145/2047196.2047269

Computer Aided Design (CAD) typically involves tasks such as adjusting the camera perspective and assembling pieces in free space that require specifying 6 degrees of freedom (DOF). The standard approach is to factor these DOFs into 2D subspaces that are mapped to the x and y axes of a mouse. This metaphor is inherently modal because one needs to switch between subspaces, and disconnects the input space from the modeling space. In this paper, we propose a bimanual hand tracking system that provides physically-motivated 6-DOF control for 3D assembly. First, we discuss a set of principles that guide the design of our precise, easy-to-use, and comfortable-to-use system. Based on these guidelines, we describe a 3D input metaphor that supports constraint specification classically used in CAD software, is based on only a few simple gestures, lets users rest their elbows on their desk, and works alongside the keyboard and mouse. Our approach uses two consumer-grade webcams to observe the user's hands. We solve the pose estimation problem with efficient queries of a precomputed database that relates hand silhouettes to their 3D configuration. We demonstrate efficient 3D mechanical assembly of several CAD models using our hand-tracking system.

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