Robot ARena: Infrastructure for applications involving spatial augmented reality and robots

This paper describes an augmented reality infrastructure composed of a camera, a projector, software for tracking, controlling and augmenting reality, and a real robot that can interact with projected virtual content. This spatially augmented environment is intended to be used as a testbed for experiments in interactive augmented reality applications, such as innovative games, educational applications and telepresence. The techniques used to control, communicate and track the robot are discussed as well as the techniques to develop, project and interact with the augmented environment. As a proof of concept, a game developed using this infrastructure is presented