Building, registrating, and fusing noisy visual maps
International Journal of Robotics Research - Special Issue on Sensor Data Fusion
Recursive 3-D Road and Relative Ego-State Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Improving static and dynamic registration in an optical see-through HMD
SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Presence: Teleoperators and Virtual Environments
Superior augmented reality registration by integrating landmark tracking and magnetic tracking
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A Sequential Factorization Method for Recovering Shape and Motion From Image Streams
IEEE Transactions on Pattern Analysis and Machine Intelligence
Segmentation and Factorization-Based Motion and Structure Estimation for Long Image Sequences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
IEEE Transactions on Pattern Analysis and Machine Intelligence
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
Analysis of Head Pose Accuracy in Augmented Reality
IEEE Transactions on Visualization and Computer Graphics
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Realtime Camera Calibration for Enhanced Reality Visualization
CVRMed '95 Proceedings of the First International Conference on Computer Vision, Virtual Reality and Robotics in Medicine
Mathematical Foundations of Navigation and Perception for an Autonomous Mobile Robot
RUR '95 Proceedings of the International Workshop on Reasoning with Uncertainty in Robotics
A Motion-Stabilized Outdoor Augmented Reality System
VR '99 Proceedings of the IEEE Virtual Reality
Hybrid Inertial and Vision Tracking for Augmented Reality Registration
VR '99 Proceedings of the IEEE Virtual Reality
Inertial Head-Tracker Sensor Fusion by a Complimentary Separate-Bias Kalman Filter
VRAIS '96 Proceedings of the 1996 Virtual Reality Annual International Symposium (VRAIS 96)
An Adaptive Estimator for Registration in Augmented Reality
IWAR '99 Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality
Natural feature tracking for augmented reality
IEEE Transactions on Multimedia
Miniaturization, Calibration & Accuracy Evaluation of a Hybrid Self-Tracker
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Registration Using Natural Features for Augmented Reality Systems
IEEE Transactions on Visualization and Computer Graphics
Fast Ego-motion Estimation with Multi-rate Fusion of Inertial and Vision
International Journal of Robotics Research
An Introduction to Inertial and Visual Sensing
International Journal of Robotics Research
Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data
International Journal of Robotics Research
Integration of Vision and Inertial Sensors for 3D Arm Motion Tracking in Home-based Rehabilitation
International Journal of Robotics Research
Virtual reality system with integrated sound field simulation and reproduction
EURASIP Journal on Applied Signal Processing
On multi-rate fusion for non-linear sampled-data systems: Application to a 6D tracking system
Robotics and Autonomous Systems
Technical Section: A generalized registration method for augmented reality systems
Computers and Graphics
Advanced 3D localization by fusing measurements from GPS, inertial and vision sensors
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Trajectory mapping for landmine detection training
ICCS'03 Proceedings of the 2003 international conference on Computational science: PartIII
A performance study for camera pose estimation using visual marker based tracking
Machine Vision and Applications
Autonomous vehicle video aided navigation – coupling INS and video approaches
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
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A new method for registration in augmented reality (AR) was developed that simultaneously tracks the position, orientation, and motion of the user's head, as well as estimating the three-dimensional (3D) structure of the scene. The method fuses data from head-mounted cameras and head-mounted inertial sensors. Two extended Kalman filters (EKFs) are used: one estimates the motion of the user's head and the other estimates the 3D locations of points in the scene. A recursive loop is used between the two EKFs. The algorithm was tested using a combination of synthetic and real data, and in general was found to perform well. A further test showed that a system using two cameras performed much better than a system using a single camera, although improving the accuracy of the inertial sensors can partially compensate for the loss of one camera. The method is suitable for use in completely unstructured and unprepared environments. Unlike previous work in this area, this method requires no a priori knowledge about the scene, and can work in environments in which the objects of interest are close to the user.