Skip Navigation
York U: Redefine the PossibleHOME | Current Students | Faculty & Staff | Research | International
Search »FacultiesLibrariesCampus MapsYork U OrganizationDirectorySite Index
Future Students, Alumni & Visitors
2003 Technical Reports

MARVIN: a Mobile Automatic Realtime Visual and INertial tracking system

Andrew Hogue

Technical Report CSE-2003-13

York University

May 15, 2003

Abstract

Six-sided fully-enclosed projective displays present complex and novel problems for tracking systems. The fully-enclosed nature of these displays limits the use of existing tracking technologies which typically require a tether or a line-of-sight to the user which is unavailable in this context. This thesis presents a hybrid Inertial/Optical tracking system for fullyenclosed projective displays. The inertial system uses linear acceleration measurements to estimate relative head motion but the estimate is subject to drift due to sensor misalignment and calibration errors. To compensate for this drift, a vision-based tracking technology is used to estimate the absolute pose of the operator's head. The optical tracking technology relies on the operator wearing a set of laser diodes arranged in a specific configuration and then tracking the projection of these lasers on the external walls of the immersive display. This approach places minimal hardware on the user and no visible tracking equipment is placed within the immersive environment. The inertial and vision-based pose estimates may be combined via a recursive least-squares filter to provide the pose of the operator.

Download paper in PDF format.



The documents distributed by this server have been provided by the contributing authors as a means to ensure timely dissemination of scholarly and technical work on a noncommercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.