Submitted version of the thesis - Airlab, the Artificial Intelligence ...

2.4. Games and Interaction 15
a 2.5 D visual control method. Deguchi et al. [22] proposed a decoupling
method of translation and rotation. Camera calibration is a tedious task,
and pre-calibration cameras used in visual control methods limit a lot the
flexibility of the system. Therefore, many researchers pursue the visual
control methods with self-calibrated or un-calibrated cameras. Kragic et
al. [34] gave an example to self-calibrate a camera with the image and the
CAD model of the object in their visual control system. Many researchers
proposed various visual control methods with un-calibrated cameras, which
belong to image based visual control methods. The camera parameters are
not estimated individually, but combined into the image Jacobian matrix.
For instance, Shen et al. [43] limited the working space of the end-effector
on a plane vertical to the optical axis of the camera to eliminate the camera
parameters in the image Jacobian matrix. Xu et al. [21] developed visual
control method for the end-effector of the robot with two un-calibrated cameras,
estimating the distances based on cross ratio invariance.
2.4 Games and Interaction
Advances in thetechnological mediumof video games have recently included
thedeployment ofphysicalactivity-based controller technologies, suchasthe
Wii [27], and vision-based controller systems, such as Intel’s Me2Cam [13].
The rapid deployment of millions of iRobot Roomba home robots [14] and
the great popularity of robotic play systems, such as LEGO Mindstorms
and NXT [5] now present an opportunity to extend the realm of video game
even further, into physical environments, through the direct integration of
human-robot interaction techniques and architectures with video game experiences.
Over the past thirty to forty years, a synergistic evolution of robotic
and video game-like programming environments, such as Turtle Logo [36],
has occurred. At the MIT Media Lab, these platforms have been advanced
through the constructionist pedagogies, research, and collaborations of Seymour
Papert, Marvin Minsky, Mitch Resnick, and their colleagues, leading
to Logo [7], Star Logo [37], programmable Crickets and Scratch [6] and Lego
MindStorms [37]. In 2000, Kids Room [18] demonstrated that an immersive
educational gaming environment with projected objects and characters in
physical spaces (e.g., on the floor or walls), could involve children in highly
interactive games, such as hide-and-seek. In 2004, RoBallet [20] advanced
these constructionist activities further, blending elements of projected vir-