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Figure 2 – Foldable display shapes (left to right): newspaper, scroll, fan, and umbrella.
Red dots indicate the location of the LEDs use for tracking in these prototypes.
Tracking
Tracking is accomplished using infrared (IR) LEDs
embedded into the foldable surface and the infrared dot
tracking capabilities of the PixArt camera within the
Nintendo Wii remote. This camera contains hardware blob
tracking up to four points simultaneously with a resolution
of 1024 by 768 at 100Hz. Since the computer vision
tracking is performed by hardware in the camera, this is a
low-cost, easy to implement solution that provides high-
resolution, low-latency tracking. When positioned adjacent
to a projector, the camera tracking data can be calibrated to
the image location resulting in spatially augmented reality
on moving surfaces [5]. However, camera based tracking
has limitations such as the number of distinct points that
can be reliably tracked simultaneously, the inability to
provide point identity, and manual calibration with the
projected image.
The four point limit of the PixArt chip reduces the
complexity of our foldable geometries requiring simplifying
assumptions, such as requiring shapes to have fairly high
folding symmetry or equally sized square panels. We take
advantage of the semi-rigid properties of our designs and
place the IR emitters at strategic locations such that we can
fit a geometry model to the data. This model provides
estimations of the display edges and corners which may not
be explicitly tracked. Assumptions are made regarding
display starting orientation, point ID, and the range of
movement allowing the model to fit the surface using a
small number of points. The fewer points that are available,
the stronger these estimations and assumptions must be.
However, as the technology evolves providing larger
numbers of trackable points, many of these assumptions can
be eliminated resulting in more robust performance. If the
projector was capable of presenting both visible application
Figure 3 – Foldable display prototypes at various stages of
content and non-visible structured light patterns [6], large
expansion (top to bottom): newspaper, scroll, fan, & umbrella
numbers of points could be tracked simultaneously without
ambiguous identity further reducing the number of FOLDABLE SHAPES
assumptions and spatial limitations. In this section, we present four foldable display designs.
The LEDs in the display surface run for several hours using This is, of course, not an exhaustive list. However, we
a small rechargeable battery pack. Since infrared LEDs believe they present a number of expansion and collapsing
emit non-visible light, the LEDs appear as small black dots behaviors likely to be used in a typical foldable display. For
5mm in diameter. The LEDs can also be placed beneath a each description, please refer to Figure 2 for an illustration
translucent surface to hide their visual presence entirely. As and Figure 3 for images of the working prototype.
with any optical based tracking system, occlusions are a Newspaper
problem but could be address using additional cameras or One of the most common formats in which we interact with
location estimation using remaining visible points. large sheets of printed material is a typical newspaper.
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Figure 4 – Orientation sensitivity behaviors (left to right): double-sided display surfaces can react differently depending on the
direction they are flipped, simulated lenticular can change the document view depending on the angle of viewing in a hand-held
display, or a tabletop scenario where tilt angle may correspond to different privacy states: private, public, excluded.
Sometimes referred to as the broadsheet format, these large display surface minimizing distortion. Two IR emitters
sheets of paper are folded in half vertically and then again define the outer and inner radius of the display area. The
horizontally allowing a variable visual area ratio of 4 to 1. hinge location is estimated using the known physical
Additional folds can be added to further increase the proportions of the fan. A third IR emitter identified the
magnitude of variability in visual area. In our prototype, we sweep of the display along an ellipsoid.
use two folds to support viewing half a page up to two full
Umbrella
pages side by side. The user can gracefully increase or Another common example of expanding and collapsing a
decrease the viewing area simply by unfolding or folding large surface is a parasol or umbrella. These surfaces can
the display. Tracking, when viewing a half-page, uses only frequently be operated by one hand using spring loaded
two IR emitters defining the top edge of a rigid square designs and can produce a very large surface area very
panel. The first fold is defined by a third point in the bottom quickly. Depending on the culture of origin and intended
left corner becoming visible below. The second fold is purpose, umbrella and parasol designs vary from parabolic
defined by a fourth point appearing in the top right corner. bell shapes, to conical, to nearly planar. Distortions due to
Scroll non-planar surfaces can be compensated for if the geometry
While less common today, large printed material was once is known before hand. An umbrella design may perhaps not
transported and viewed in the format of scrolls that could be be the most ideally suited shape for interactivity due to the
unrolled. This allowed individuals to not only customize the central perpendicular column of the handle. However, the
amount of visible area, but also the location of that area surface area change ratio is very dramatic making it
within a long document – hence the concept of “scrolling” a potentially attractive for certain applications and lends itself
window in a typical GUI environment. By creating a digital to rotational input. The handle also provides an optically
display scroll we can change the size and aspect ratio of the plausible location for a projection and tracking device for
viewable area quickly and easily exposing more of the true mobility. When all four IR emitters are visible, a plane
application content. This design can also be collapsed into a is defined which orients a parabolic model.
relatively small form factor for storage. This is tracked
ORIENTATION SENSITIVITY
using an IR emitter in each corner and the display is Though we track gross movements for the purposes of
assumed to begin in an upright orientation. projection and folding, we can also respond to flipping or
Fan subtle display movements to create orientation sensitive
Folding fans are perhaps one of the best examples of a behavior. The following behaviors are illustrated in Figure
device that must be very large in surface area to be 4 and images of the working prototype are shown in Figure
effective, usable by one hand so that the other hand is free 5.
to perform a task, and collapsible for easy storage in a
By monitoring the persistent visibility of edges, we can
pocket. Coincidentally, these properties are also desirable in
detect when the display has been flipped and in which
a mobile display technology. As a result, this design may be
direction. This is accomplished by tracking emitter
one of the most practical for foldable displays in a mobile
visibility and motion modeling to determine probabilistic
scenario. In our prototype the ratio of display area from a
movement. Emitters are placed along the edge such that
fully expanded to fully collapsed configuration is
they remain visible when viewed from the side but back
approximately 20 to 1 ranging from 100 square inches to a
facing edges will result in disappearance. This provides a
small strip. The elongated strip can be used to display status
way to create lightweight double-sided display surfaces
messages, rolling text, or progress bars similar to a portable
simply by projecting different content on each side.
music player. Some folding fans designs allow full 360
Flipping the surface in different directions (left, right, up,
degree expansion creating a circular display area. The fan
down, or diagonally) can trigger events for document
format can either be used in full or partial expansion to vary
navigation or view manipulation [3].
the amount of screen area desired. While we used a pleated
folding fan for our prototype, folding fans can also be We can react to more subtle tilting movement of the surface
composed of parallel slats resulting in a nearly planar altering the view depending on the angle at which is it held.
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This is done by monitoring the ratio of the edges of a sem-
rigid surface. We refer to this as a simulated lenticular
screen and can respond to multiple axes of orientation
change.
In a multi-user scenario, horizontally tilting or turning the
display to another person (assuming the computer is aware
of viewer locations) can trigger different document views.
If placed on a table top, vertical tilting may correspond to
the implicit privacy states of the display depending on its
expected visibility. Tilting the display toward yourself
might indicate a private state, placing it flat would indicate
a public state, and tilt it away might indicate an excluded
state, possibly useful for presentation or gaming scenarios.
Use of this capability will depend on the application
scenario of the table top system.
While it would be possible to have the system react to
additional degrees of rotational freedom as well as three
degrees of translational movement, having such complex
display behavior would be highly application dependent.
For example, six degree-of-freedom display tracking would
be appropriate for creating a view portal into a virtual 3D
environment but unnecessary for many 2D GUIs.
INTERACTIVITY Figure 5 – Orientation sensitivity prototypes: (top) double-
By tracking additional dots over those embedded into the sided flip direction, (middle) vertical and horizontal simulated
display surface, we can track a stylus for input shown in lenticular in a hand-held surface, and (bottom) a tabletop
scenario where tilt correlates to different privacy states.
Figure 1. Since our fan design used only three IR emitters,
we were able to use the fourth point to represent an input
manner. As tracking technologies improve, surface
stylus. The stylus contains a button to activate the emitter
modeling assumptions can be reduced improving
providing a passive method of detecting clicking and
robustness. With the emerging flexible display and portable
dragging. The location of the cursor is mapped to the 2D
projection technologies, foldable designs may become
location on the foldable display. Alternative style designs
practical in portable consumer electronics in the near future.
could utilize a tip switch, but this will vary performance
when using different display materials. This technique ACKNOWLEDGMENTS
provides an easy way to obtain interactivity on all of the This work was supported in part by grants from General
surfaces described including their double-sided variants. Motors, the Intel Research Council, and the National
High-speed IR data transmission could be used to transmit Science Foundation under Grant IIS-0713509
additional data from the stylus such as left and right click, REFERENCES
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