Mixed Reality

Mixed reality (MR) is the merging of real and virtual worlds to produce new environments and visualizations where physical and digital objects co-exist and interact in real time. Mixed reality takes place not only in the physical world or the virtual world, but is a mix of reality and virtual reality, encompassing both augmented reality and augmented virtuality. Mixed reality is also known as hybrid reality. Mixed Reality can be a valuable tool for research and development in robotics. In this work, we refine the definition of Mixed Reality to accommodate seamless interaction between physical and virtual objects in any number of physical or virtual environments. In particular, we show that Mixed Reality can reduce the gap between simulation and implementation by enabling the prototyping of algorithms on a combination of physical and virtual objects, including robots, sensors, and humans. Robots can be enhanced with additional virtual capabilities, or can interact with humans without sharing physical space. We demonstrate Mixed Reality with three representative experiments, each of which highlights the advantages of our approach. KeywordsMixed Reality, Augmented Reality, simulation, robotics