Another thing that has changed since are last visit is tapestry with the map of Europe.  The AR overlay was achieved by defining markers (the position of a number of specific features) on a photo of the original to  build a model. These markers then had to be recognised by the FROG using incoming information from the antenna’s camera so that these could used to aim the overlay. The same set of markers was defined in the overlay and these had to match up to the features in the tapestry (the target) so that the overlay would be correctly positioned in the resulting overlay projection. All of this is necessary as, due to its autonomous social navigation, the FROG may stop at a different location in the hall on each separate tour.

Too many ripples in the tapestry at any time could mean that the feature markers cannot be recognised. Of course, there are several solutions to compensate for differences in the folds in the tapestry between tours. This would take some time to implement and as we have some more pressing matters for this session a quick solution was chosen. This involves using the whole tapestry area as a target instead of specific points on the target. Not as elegant as it could be but certainly a neat solution for a proof of concept.