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Authors: Niels Tjørnly Rasmussen 1 ; Moritz Störring 2 ; Thomas B. Moeslund 2 and Erik Granum 2

Affiliations: 1 Image House A/S, Denmark ; 2 Aalborg University, Denmark

Keyword(s): Pose Estimation, Tracking, SCAAT Extended Kalman Filter, Stereo Triangulation.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Real-Time Vision

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.

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Paper citation in several formats:
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 (VISIGRAPP 2006) - Volume 2: VISAPP; ISBN 972-8865-40-6; ISSN 2184-4321, SciTePress, pages 333-340. DOI: 10.5220/0001367803330340

@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 (VISIGRAPP 2006) - Volume 2: VISAPP},
year={2006},
pages={333-340},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001367803330340},
isbn={972-8865-40-6},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the First International Conference on Computer Vision Theory and Applications (VISIGRAPP 2006) - Volume 2: VISAPP
TI - REAL-TIME TRACKING FOR VIRTUAL ENVIRONMENTS USING SCAAT KALMAN FILTERING AND UNSYNCHRONISED CAMERAS
SN - 972-8865-40-6
IS - 2184-4321
AU - Tjørnly Rasmussen, N.
AU - Störring, M.
AU - B. Moeslund, T.
AU - Granum, E.
PY - 2006
SP - 333
EP - 340
DO - 10.5220/0001367803330340
PB - SciTePress

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