A product world is trying to change focusing on "Content-Centric". Like a Kindle which is designed by "E-Book Centric". Then, it is necessary to design our products by "Content-Centric". For that purpose, it is necessary to perform a trial production and a products design quickly flexibly. Therefore we created one robot based on the soul of "DIwO(Do It with Others)" used as basic concepts, such as Make:(http://makezine.com/), in order to realize it. It is created by combining various products used as SoC which Pandaboard(http://pandaboard.org/). -Hardware --Brain wave sensor(http://www.neurosky.com/) --2-leg Robot --see-through display(http://www.brother.com/en/news/2011/airscouter/index.htm) --Xtion(http://www.asus.com/Multimedia/Motion_Sensor/Xtion_PRO/) -Software --Android --openFrameworks(http://www.openframeworks.cc/) This is an "AR(augmented reality) Treasure Hunting Game". Such a reason, it is possible to make trial production and commercial production quickly.

1. TreasureHunter
Noritsuna Imamura
(noritsuna@siprop.org)
Hirotaka Niisato (hirotaka@siprop.org)
Masahito Endo (masaxmasa@siprop.org)
©SIProp Project, 2006-2008 1

2. Summary
This is an
"AR(augmented reality) Treasure Hunting Game“
You get virtual treasures by controlling
real robot!
©SIProp Project, 2006-2008 2

3. Manual
Look at radar window like dragon radar.
Show some treasure on radar.
Center is a place in which a robot is
present.
N(North) is a robot's front.
If you move the robot to a treasure
place, you get some point.
Controlling the robot is by brain wave.
©SIProp Project, 2006-2008 3

4. How to control
Keep 3 times in same area.
Upper(exciting) area
Turn left
Middle(active) area
Go toward
Lower(relax) area
Turn right
©SIProp Project, 2006-2008 4

5. How to make
©SIProp Project, 2006-2008 5

6. Hardwares & Softwares
Hardwares Softwares
Base computer Ubuntu & Android
Pandaboard Linaro11.11
Brain Wave Sensor Depth Sensor
MindWave OpenNI
NeuroSky Bone skeleton
Depth Sensor tracker
Xtion pro live NITE for ARM
ASUS Only binary…
Display UI Framework
AiRscoter openFrameworks
Brother Android
Industries
Walking Robot
KHR-3WL
©SIProp Project, 2006-2008 6

7. Hardwares’ photo
Xtion
MindWave
AiRscoute
Pandaboar r
d
©SIProp Project, 2006-2008 7

8. Softwares’ photo
Brain
Wave
Line
Bone skeleton Graph
Tracking Window
©SIProp Project, 2006-2008 8

9. Calculate robot position
Recognizing a robot by bone skeleton.
Using OpenNI + NITE
Calculate direction & position of robot.
Calculate by moving robot.
Using depth camera.
©SIProp Project, 2006-2008 9

10. Recognizing bone skeleton 1/2
Using OpenNI + NITE
OpenNI is a Kinect & Xtion’s driver as OSS.
NITE is a bone skeleton tracking software
for OpenNI.
http://75.98.78.94/
©SIProp Project, 2006-2008 10

11. Recognizing bone skeleton 2/2
NITE is NOT OSS!
Only binary for ARM/Ubuntu.
Want to use Android&openFrameworks UI.
Made dual boot OS for Ubuntu&Android.
UserLand: Linaro/Android (Run on Ubuntu by chroot)
UserLand: Linaro/Ubuntu (NITE runs on this userland)
Linaro Kernel for Ubuntu&Android on Pandaboard
©SIProp Project, 2006-2008 11

12. Recognizing bone skeleton 2
NITE can NOT recognize our robot…
Head is too SMALL as human.
Legs & arms are too THIN as human.
Upright pose is not like human.
©SIProp Project, 2006-2008 12

13. Calculate robot position
Calculate a current center position.
Moving distance is calculated by using depth
camera.
Calculate a robot's front.
This robot has just 3 ways action.
Go toward, Turn left, Turn right
Direction of “Go toward” is the robot's
front.
©SIProp Project, 2006-2008 13

14. How to control
Keep 3 times in same area.
Upper(exciting) area
Turn left
Middle(active) area
Go toward
Lower(relax) area
Turn right
©SIProp Project, 2006-2008 14

15. Brain wave 1/2
What wave is What feeling?
γ(gamma) wave is exciting.
β(beta) wave is active.
α(alpha) wave is relax.
θ(theta ) wave is sleep.
δ(delta) wave is deep sleep.
δ θ α β γ
Relax Exciting
©SIProp Project, 2006-2008 15

16. Brain wave 2/2
Upper area
γ(gamma) wave is exciting.
Middle area
β(beta) wave is active.
Lower area
α(alpha) wave is relax.
δ θ α β γ
Relax Exciting
©SIProp Project, 2006-2008 16

17. Download source code
We release all source code on our site.
http://www.siprop.org/ja/2.0/index.php?produ
ct%2FTreasureHunter
Do It Yourself ⇒Do It With
Others!
©SIProp Project, 2006-2008 17