Georgina Woo

Robotics

Towards more socially aware robots

My work with the TIER Lab's Misty II and Duckiebots

Misty II

Developing socially aware robotics through computer vision, interactive gesture recognition, and pose estimation.

GitHub

Misty mirrors a waving person.

Using obstacle detection to navigate through space.

Misty STL Model

I reconstructed and textured a 3D model of the Misty II robot in Blender based on the official CAD assembly files, for use in my simulation work.

Presenting Duckiebot at Hunter Undergraduate STEM Conference 2024

Presenting our work on socially aware robot navigation with the Duckiebot at the Hunter Undergraduate Research Conference 2024.

Presenting our computer vision work for social robot navigation with Misty Hunter Undergraduate Research Conference 2025.

Augmented Reality

Here are some of the AR projects I have worked on with the Computer Vision Lab at Hunter. Each project was developed in Unity and deployed to a Magic Leap AR headset.

Mesh Building

Mesh Visualization

Here, I'm looking at the mesh (of bookshelves) beyond the wall I'm physically standing in front of. In each session, I construct the mesh by looking around, and the mesh persists as part of the constructed world mesh. However, the mesh can be updated if a structure moves or changes form. I can toggle between the transluscent and triangle meshes.

Space Interaction

With a built mesh, I used raycasting to select corners (points of the mesh), allowing me to build a playing space or bounding box within the virtual world.

Mesh Interaction and Ray Casting

Duck Hit

Once we have a mesh of the environment, I can add properties to it like rigidbody colliders, allowing me to simulate placing virtual items on physical elements. I also added push forces to interact with the ducks.

Duck Delete

I made too many ducks (for science) before writing the destroyDuck function.

Hand Tracking and Gesture Recognition

Hand Tracking

This functionality detects and recognizes hands and their gestures, allowing me to attach functionality to associated actions. For example, this Cube Viewer Deluxe allows for object creation, rotation, and deletion with hand gestures.

Stimuli Generation with Unity

Some of the stimuli generated using Unity for research. With some C# and Python scripts, we automated the process of generating >10000 videos (2s each) that can be used as stimuli.

Stimuli 1 Stimuli 2
Stimuli 3 Stimuli 4
Misty II

Automating image capture from the robot's POV using a Unity based recreation of the Coffee dataset, generating over a thousand crowd simulation images.

Creature Designs

3D printed Monster

I used some 3D modelling in Blender to help create a Monster mask for a theatrical production.

Mesh Visualization

I often look to preexisting (and readily available) items when building puppets or costume items, but I had a specific shape for the monster mask I had in mind, and access to a 3D printer.

Space Interaction

Due to the size of the 3D printer and the limitations on the pieces it could print, I segmented the model into parts.

3D Printing

Duck Hit
Duck Delete

Final Product

Final Design

I added some embellishments. The teeth were also 3d printed, and the inner mouth was built with clay. The mask was attached to a helmet worn by the performer, hidden behind mesh.

Behance