Tracking with reference images: a real-time and markerless tracking solution for out-door augmented reality applications

Authors:
Didier Stricker
Affiliations:
Fraunhofer Institute for Computer Graphics, Germany
Venue:
Proceedings of the 2001 conference on Virtual reality, archeology, and cultural heritage
Year:
2001

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Abstract

This paper presents the optical tracking solution developed in the ArcheoGuide project (The Augmented Reality based Cultural Heritage On-site GUIDE, IST-1999-11306). The system enables to recover precisely the user head position and orientation at predetermined viewing location without the support of markers.The tracking approach is novel and bases on the real-time registration of the live video-image with so called "reference images" of the site. Once the matching between a live- and a reference-images could have been established, the virtual information can be presented correctly to the user, either using a 2D image warping transformation or after deduction of the current 3D position/orientation of the camera.The image matching algorithm represents the core of the tracking system. It must have real-time performance and be particulary robust to intensity and local changes. We opted for an analysis in frequency space and exploit the invariance properties of the Mellin-Fourier transform.The tracking system has been tested outdoor in the context of the Archeoguide project. It runs on a laptop at around 10 to 15 Hz and provides views of virtual monuments in a Head Mounted Display superposed to the ruins of the archaeological site.