Surround-screen projection-based virtual reality: the design and implementation of the CAVE
SIGGRAPH '93 Proceedings of the 20th annual conference on Computer graphics and interactive techniques
SCAAT: incremental tracking with incomplete information
SCAAT: incremental tracking with incomplete information
Proceedings of the 25th annual conference on Computer graphics and interactive techniques
Linear N-Point Camera Pose Determination
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple view geometry in computer vision
Multiple view geometry in computer vision
What's Real About Virtual Reality?
IEEE Computer Graphics and Applications
Immersive VR for Scientific Visualization: A Progress Report
IEEE Computer Graphics and Applications
The Benefits of Statistical Visualization in an Immersive Environment
VR '99 Proceedings of the IEEE Virtual Reality
Construction of a Three-sided Immersive Telecollaboration System
VR '03 Proceedings of the IEEE Virtual Reality 2003
VIS-Tracker: A Wearable Vision-Inertial Self-Tracker
VR '03 Proceedings of the IEEE Virtual Reality 2003
An Introduction to the Kalman Filter
An Introduction to the Kalman Filter
An Optical-Inertial Tracking System for Fully-Enclosed VR Displays
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
High-Performance Wide-Area Optical Tracking: The HiBall Tracking System
Presence: Teleoperators and Virtual Environments
Presence: Teleoperators and Virtual Environments
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Existing commercial technologies do not adequately meet the requirements for tracking in fully enclosed Virtual Reality displays. We present a novel six degree of freedom tracking system, the Hedgehog; which overcomes several limitations inherent in existing sensors and tracking technology. The system reliably estimates the pose of the user's head with high resolution and low spatial distortion. Light emitted from an arrangement of lasers projects onto the display walls. An arrangement of cameras images the walls and the two-dimensional centroids of the projections are tracked to estimate the pose of the device. The system is able to handle ambiguous laser projection configurations, static and dynamic occlusions of the lasers, and incorporates an auto-calibration mechanism due to the use of the SCAAT (single constraint at a time) algorithm. A prototype system was evaluated relative to a state-of-the-art motion tracker and showed comparable positional accuracy (1-2 mm RMS) and significantly better absolute angular accuracy (0.1,° RMS).