Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras

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

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

5 Citationer (Scopus)

Resumé

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.
OriginalsprogEngelsk
TitelVISAPP 2006 : Proceedings of the First International Conference on Computer Vision Theory and Applications
Antal sider8
ForlagInstitute for Systems and Technologies of Information, Control and Communication
Publikationsdato2006
Sider333-341
ISBN (Trykt)9728865406
StatusUdgivet - 2006
BegivenhedInternational conference on computer vision theory and applications - SETÚBAL, Portugal
Varighed: 25 feb. 200628 feb. 2006
Konferencens nummer: 1

Konference

KonferenceInternational conference on computer vision theory and applications
Nummer1
LandPortugal
BySETÚBAL
Periode25/02/200628/02/2006

Fingerprint

Virtual reality
Cameras
Triangulation
Sensors

Citer dette

Rasmussen, N. T., Störring, M., Moeslund, T. B., & Granum, E. (2006). Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras. I VISAPP 2006: Proceedings of the First International Conference on Computer Vision Theory and Applications (s. 333-341). Institute for Systems and Technologies of Information, Control and Communication.
Rasmussen, Niels Tjørnly ; Störring, Morritz ; Moeslund, Thomas B. ; Granum, Erik. / Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras. VISAPP 2006: Proceedings of the First International Conference on Computer Vision Theory and Applications. Institute for Systems and Technologies of Information, Control and Communication, 2006. s. 333-341
@inproceedings{e7b69c4089d711dbbb3d000ea68e967b,
title = "Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras",
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.",
keywords = "Tracking, SCAAT Extended Kalman Filter, Pose Estimation, Stereo Triangulation",
author = "Rasmussen, {Niels Tj{\o}rnly} and Morritz St{\"o}rring and Moeslund, {Thomas B.} and Erik Granum",
year = "2006",
language = "English",
isbn = "9728865406",
pages = "333--341",
booktitle = "VISAPP 2006",
publisher = "Institute for Systems and Technologies of Information, Control and Communication",

}

Rasmussen, NT, Störring, M, Moeslund, TB & Granum, E 2006, Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras. i VISAPP 2006: Proceedings of the First International Conference on Computer Vision Theory and Applications. Institute for Systems and Technologies of Information, Control and Communication, s. 333-341, International conference on computer vision theory and applications, SETÚBAL, Portugal, 25/02/2006.

Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras. / Rasmussen, Niels Tjørnly; Störring, Morritz; Moeslund, Thomas B.; Granum, Erik.

VISAPP 2006: Proceedings of the First International Conference on Computer Vision Theory and Applications. Institute for Systems and Technologies of Information, Control and Communication, 2006. s. 333-341.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

TY - GEN

T1 - Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras

AU - Rasmussen, Niels Tjørnly

AU - Störring, Morritz

AU - Moeslund, Thomas B.

AU - Granum, Erik

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

KW - Tracking

KW - SCAAT Extended Kalman Filter

KW - Pose Estimation

KW - Stereo Triangulation

M3 - Article in proceeding

SN - 9728865406

SP - 333

EP - 341

BT - VISAPP 2006

PB - Institute for Systems and Technologies of Information, Control and Communication

ER -

Rasmussen NT, Störring M, Moeslund TB, Granum E. Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras. I VISAPP 2006: Proceedings of the First International Conference on Computer Vision Theory and Applications. Institute for Systems and Technologies of Information, Control and Communication. 2006. s. 333-341