Browsing by Author "Bahri, Haythem"

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    Autonomous Vehicle Control based on HoloLens Technology and Raspberry Pi Platform: an Educational Perspective
    (ELSEVIER, RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS, 2019-01-01) Moezzi, Reza; Krčmařík, David; Bahri, Haythem; Hlava, Jaroslav
    Localization and mapping is an essential part of an autonomous vehicle control. Microsoft HoloLens is a sophisticated augmented reality device using many advanced technologies. As such HoloLens has high appeal for young people and its use in teaching may increase the attractiveness of control classes. In this paper we describe how this device can be used in advanced control education for experiments with autonomous vehicles localization, mapping and control. Among other capabilities HoloLens can provide 3D position information by its spatial mapping feature. This facilitates the simultaneous localization and mapping (SLAM) problem. Furthermore, based on HoloLens position information the students can design vehicle longitudinal and lateral control systems and compare the performance achieved with different strategies such as PID and Model Predictive control. Example comparisons are given in this paper.
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    Efficient Use of Mixed Reality for BIM system using Microsoft HoloLens
    (ELSEVIER, RADARWEG 29, 1043 NX AMSTERDAM, NETHERLANDS, 2019-01-01) Bahri, Haythem; Krčmařík, David; Moezzi, Reza; Kočí, Jan
    Recently, a new independent concept used to classify the spectrum of reality technologies, as referenced in the reality virtuality continuum is MR of Mixed Reality. As an independent concept, MR mixes the best of both Virtual Reality (VR) and Augmented Reality (AR) int the same environment for the user's gaze. It covers essentially of all possible variations and compositions of real and virtual objects. Which is the result of blending the digital world and the physical world together, brings new advancements and challenges to human, computer and environment interactions. Thus, they offer potential for acquiring at least coarse point clouds and meshes of single rooms or even complete building structures that can be used in the context of building information modelling (BIM) in the future instead of manually modelling existing buildings based on 2D floor plans or manual measurements with laser scanners or computationally expensive image based 3D reconstruction techniques. In this paper, we proposed an efficient usage of MR techniques to manage the items of furniture of rooms using Microsoft HoloLens to create a BIM system. Therefore, we succeeded to map the occupied and unoccupied spaces of the rooms using the method of spatial mapping in 3D. In this case, we can add the items of furniture for each room in the order we choose in respecting its original organization. One hand, our BIM system allows moving the furniture from one side to the other side in real time. In the other hand, we applied the flexibility to rotate and to resize all items of furniture of our BIM system.