Ambiguity-Free Optical-Inertial Tracking for Augmented Reality Headsets

Sensors
Fabrizio CutoloAlessandro Tognetti

Abstract

The increasing capability of computing power and mobile graphics has made possible the release of self-contained augmented reality (AR) headsets featuring efficient head-anchored tracking solutions. Ego motion estimation based on well-established infrared tracking of markers ensures sufficient accuracy and robustness. Unfortunately, wearable visible-light stereo cameras with short baseline and operating under uncontrolled lighting conditions suffer from tracking failures and ambiguities in pose estimation. To improve the accuracy of optical self-tracking and its resiliency to marker occlusions, degraded camera calibrations, and inconsistent lighting, in this work we propose a sensor fusion approach based on Kalman filtering that integrates optical tracking data with inertial tracking data when computing motion correlation. In order to measure improvements in AR overlay accuracy, experiments are performed with a custom-made AR headset designed for supporting complex manual tasks performed under direct vision. Experimental results show that the proposed solution improves the head-mounted display (HMD) tracking accuracy by one third and improves the robustness by also capturing the orientation of the target scene when some of the ...Continue Reading

References

May 1, 1987·IEEE Transactions on Pattern Analysis and Machine Intelligence·K S ArunS D Blostein
Oct 9, 2014·IEEE Transactions on Medical Imaging·Benoit DiotteNassir Navab
Dec 3, 2014·Journal of Cranio-maxillo-facial Surgery : Official Publication of the European Association for Cranio-Maxillo-Facial Surgery·Giovanni BadialiClaudio Marchetti
Jul 30, 2017·Computer Assisted Surgery·Fabrizio CutoloVincenzo Ferrari
Sep 30, 2017·IEEE Transactions on Visualization and Computer Graphics·Jens GrubertJ Edward Swan
Oct 27, 2017·Journal of Healthcare Engineering·P VávraA El-Gendi

❮ Previous
Next ❯

Citations

May 1, 2021·Sensors·Alice Lo ValvoIlenia Tinnirello
Oct 15, 2021·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Zongchao YiZhongyi Chen

❮ Previous
Next ❯

Methods Mentioned

BETA
feature extraction

Software Mentioned

AR
XSens
Compute Unified Device Architecture ( CUDA
MATLAB
OpenCV API
PnP
VTK

Related Concepts

Trending Feeds

COVID-19

Coronaviruses encompass a large family of viruses that cause the common cold as well as more serious diseases, such as the ongoing outbreak of coronavirus disease 2019 (COVID-19; formally known as 2019-nCoV). Coronaviruses can spread from animals to humans; symptoms include fever, cough, shortness of breath, and breathing difficulties; in more severe cases, infection can lead to death. This feed covers recent research on COVID-19.

Blastomycosis

Blastomycosis fungal infections spread through inhaling Blastomyces dermatitidis spores. Discover the latest research on blastomycosis fungal infections here.

Nuclear Pore Complex in ALS/FTD

Alterations in nucleocytoplasmic transport, controlled by the nuclear pore complex, may be involved in the pathomechanism underlying multiple neurodegenerative diseases including Amyotrophic Lateral Sclerosis and Frontotemporal Dementia. Here is the latest research on the nuclear pore complex in ALS and FTD.

Applications of Molecular Barcoding

The concept of molecular barcoding is that each original DNA or RNA molecule is attached to a unique sequence barcode. Sequence reads having different barcodes represent different original molecules, while sequence reads having the same barcode are results of PCR duplication from one original molecule. Discover the latest research on molecular barcoding here.

Chronic Fatigue Syndrome

Chronic fatigue syndrome is a disease characterized by unexplained disabling fatigue; the pathology of which is incompletely understood. Discover the latest research on chronic fatigue syndrome here.

Evolution of Pluripotency

Pluripotency refers to the ability of a cell to develop into three primary germ cell layers of the embryo. This feed focuses on the mechanisms that underlie the evolution of pluripotency. Here is the latest research.

Position Effect Variegation

Position Effect Variagation occurs when a gene is inactivated due to its positioning near heterochromatic regions within a chromosome. Discover the latest research on Position Effect Variagation here.

STING Receptor Agonists

Stimulator of IFN genes (STING) are a group of transmembrane proteins that are involved in the induction of type I interferon that is important in the innate immune response. The stimulation of STING has been an active area of research in the treatment of cancer and infectious diseases. Here is the latest research on STING receptor agonists.

Microbicide

Microbicides are products that can be applied to vaginal or rectal mucosal surfaces with the goal of preventing, or at least significantly reducing, the transmission of sexually transmitted infections. Here is the latest research on microbicides.

Related Papers

Medical & Biological Engineering & Computing
Hongjun ChoiOnseok Lee
Studies in Health Technology and Informatics
Eric PsotaDmitry Oleynikov
© 2021 Meta ULC. All rights reserved