Patent ID: 8243099

Claim:
An augmented reality system including haptic interaction, comprising: a marker detecting unit that receives images for a real environment including markers and detects the markers included in the images; a marker position extracting unit that extracts the positions of the detected markers; a noise removing unit that removes noise from positional information of the markers extracted from the marker position extracting unit; a visual rendering unit including a virtual object augmenting unit that augments virtual objects corresponding to the markers and outputs them to the positions of the markers; a motion estimating unit that estimates the motion of the markers over a time step so as to perform a haptic rendering on the basis of the positional information of the markers transferred from the noise removing unit; a collision detecting unit that detects whether the virtual objects corresponding to the positions of the markers estimated by the motion estimating unit collide with end points of a haptic device; and a haptic rendering unit including a reaction force calculating unit that calculates reaction force to be provided through the haptic device according to a determination of the collision detecting unit; wherein the motion estimating unit estimates the motion of the marker by an adaptive extrapolation that determines the increment of position of the marker for the haptic rendering after a current time based on the difference between the position of the marker, which is finally estimated by applying the extrapolation method based on the previous time image, and the actual position of the marker in a current time image.