This paper presents an evaluation and comparison of interaction methods for the configuration and visualization of pervasive Augmented Reality (AR) experiences using two different platforms: desktop and mobile. AR experiences consist of the enhancement of real-world environments by superimposing additional layers of information, real-time interaction, and accurate 3D registration of virtual and real objects. Pervasive AR extends this concept through experiences that are continuous in space, being aware of and responsive to the user’s context and pose. Currently, the time and technical expertise required to create such applications are the main reasons preventing its widespread use. As such, authoring tools which facilitate the development and configuration of pervasive AR experiences have become progressively more relevant. Their operation often involves the navigation of the real-world scene and the use of the AR equipment itself to add the augmented information within the environment. The proposed experimental tool makes use of 3D scans from physical environments to provide a reconstructed digital replica of such spaces for a desktop-based method, and to enable positional tracking for a mobile-based one. While the desktop platform represents a non-immersive setting, the mobile one provides continuous AR in the physical environment. Both versions can be used to place virtual content and ultimately configure an AR experience. The authoring capabilities of the different platforms were compared by conducting a user study focused on evaluating their usability. Although the AR interface was generally considered more intuitive, the desktop platform shows promise in several aspects, such as remote configuration, lower required effort, and overall better scalability.

The creation of a textured 3D mesh from a set of RGD-D images often results in textured meshes that yield unappealing visual artifacts. The main cause is the misalignments between the RGB-D images due to inaccurate camera pose estimations. While there are many works that focus on improving those estimates, the fact is that this is a cumbersome problem, in particular due to the accumulation of pose estimation errors. In this work, we conjecture that camera poses estimation methodologies will always display non-neglectable errors. Hence, the need for more robust texture mapping methodologies, capable of producing quality textures even in considerable camera misalignments scenarios. To this end, we argue that use of the depth data from RGB-D images can be an invaluable help to confer such robustness to the texture mapping process. Results show that the complete texture mapping procedure proposed in this paper is able to significantly improve the quality of the produced textured 3D meshes.

Three-dimensional (3D) reconstruction methods generate a 3D textured model from the combination of data from several captures. As such, the geometrical transformations between these captures are required. The process of computing or refining these transformations is referred to as alignment. It is often a difficult problem to handle, in particular due to a lack of accuracy in the matching of features. We propose an optimization framework that takes advantage of fiducial markers placed in the scene. Since these markers are robustly detected, the problem of incorrect matching of features is overcome. The proposed procedure is capable of enhancing the 3D models created using consumer level RGB-D hand-held cameras, reducing visual artefacts caused by misalignments. One problem inherent to this solution is that the scene is polluted by the markers. Therefore, a tool was developed to allow their removal from the texture of the scene. Results show that our optimization framework is able to significantly reduce alignment errors between captures, which results in visually appealing reconstructions. Furthermore, the markers used to enhance the alignment are seamlessly removed from the final model texture.