REAL-TIME TRACKING FOR VIRTUAL ENVIRONMENTS USING SCAAT KALMAN FILTERING AND UNSYNCHRONISED CAMERAS

Niels Tjørnly Rasmussen, Moritz Störring, Thomas B. Moeslund, Erik Granum

Abstract

This paper presents a real-time outside-in camera-based tracking system for wireless 3D pose tracking of a user’s head and hand in a virtual environment. The system uses four unsynchronised cameras as sensors and passive retroreflective markers arranged in rigid bodies as targets. In order to achieve high update rates and to cope with the unsynchronised data a single-constraint-at-a-time (SCAAT) Extended Kalman Filtering approach is used that recursively integrates measurements as soon as they are available one-at-a-time. Tests show that this approach is more robust to occlusions and provides less noisy pose estimates with a higher update rate than a conventional stereo triangulation approach.

References

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Paper Citation


in Harvard Style

Tjørnly Rasmussen N., Störring M., B. Moeslund T. and Granum E. (2006). REAL-TIME TRACKING FOR VIRTUAL ENVIRONMENTS USING SCAAT KALMAN FILTERING AND UNSYNCHRONISED CAMERAS . In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 972-8865-40-6, pages 333-340. DOI: 10.5220/0001367803330340


in Bibtex Style

@conference{visapp06,
author={Niels Tjørnly Rasmussen and Moritz Störring and Thomas B. Moeslund and Erik Granum},
title={REAL-TIME TRACKING FOR VIRTUAL ENVIRONMENTS USING SCAAT KALMAN FILTERING AND UNSYNCHRONISED CAMERAS},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2006},
pages={333-340},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001367803330340},
isbn={972-8865-40-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - REAL-TIME TRACKING FOR VIRTUAL ENVIRONMENTS USING SCAAT KALMAN FILTERING AND UNSYNCHRONISED CAMERAS
SN - 972-8865-40-6
AU - Tjørnly Rasmussen N.
AU - Störring M.
AU - B. Moeslund T.
AU - Granum E.
PY - 2006
SP - 333
EP - 340
DO - 10.5220/0001367803330340