CoCo - A framework for multicore visuo-haptic in mixed reality

Mixed Reality applications involve the integration of RGB-D streams with virtual entities potentially extended with force feedback. Increasing complexity of the applications pushes the limits of traditional computing structures, not keeping up with the increased computing power of multicore platform. This paper presents the CoCo framework, a component based, multicore system designed for tackling the challenges of visuo-haptics in mixed reality environment, with structural reconfiguration. Special care has been also given to the management of transformation between reference frames for easing registration, calibration and integration of robotic systems. The framework is described together with a description of two relevant case studies.