Estimating 3-D rigid body transformations: a comparison of four major algorithms
Machine Vision and Applications - Special issue on performance evaluation
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Analysis of Head Pose Accuracy in Augmented Reality
IEEE Transactions on Visualization and Computer Graphics
Predicting and estimating the accuracy of n-occular optical tracking systems
ISMAR '06 Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality
A System Architecture for Ubiquitous Tracking Environments
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Medical augmented reality based on commercial image guided surgery
EGVE'04 Proceedings of the Tenth Eurographics conference on Virtual Environments
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There exist many infrared inside-out 6-DOF pose tracking configurations with cameras mounted rigidly to the environment. In such a setup, tracking is inherently impossible for IR targets inside/below/behind other opaque objects (occlusion problem). We present a solution for the integration of an additional, mobile IR tracking system to overcome this problem. The solution consists of an indirect tracking setup where the stationary cameras track the mobile cameras which in turn track the target. Accuracy problems that are inherent to such an indirect tracking setup, are tackled by an error correction mechanism based on reference points in the scene that are known to both tracking systems. An evaluation demonstrates that, in naive indirect tracking without error correction, the major source of error consists in a wrong detection of orientation of the mobile system and that this source of error can be practically eliminated by our error correction mechanisms.