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

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

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

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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

5 Citations (Scopus)

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.

Original language	English
Title of host publication	VISAPP 2006 : Proceedings of the First International Conference on Computer Vision Theory and Applications
Number of pages	8
Publisher	Institute for Systems and Technologies of Information, Control and Communication
Publication date	2006
Pages	333-341
ISBN (Print)	9728865406
Publication status	Published - 2006
Event	International conference on computer vision theory and applications - SETÚBAL, Portugal Duration: 25 Feb 2006 → 28 Feb 2006 Conference number: 1

Conference

Conference	International conference on computer vision theory and applications
Number	1
Country/Territory	Portugal
City	SETÚBAL
Period	25/02/2006 → 28/02/2006

Keywords

Tracking
SCAAT Extended Kalman Filter
Pose Estimation
Stereo Triangulation

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Rasmussen, N. T., Störring, M., Moeslund, T. B., & Granum, E. (2006). Real-time tracking for virtual environments using scaat kalman filtering and unsynchronised cameras. In VISAPP 2006: Proceedings of the First International Conference on Computer Vision Theory and Applications (pp. 333-341). Institute for Systems and Technologies of Information, Control and Communication.

Rasmussen, Niels Tjørnly ; Störring, Morritz ; Moeslund, Thomas B. et al. / 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. pp. 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{\textquoteright}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",

note = "International conference on computer vision theory and applications ; Conference date: 25-02-2006 Through 28-02-2006",

}

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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-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

N1 - Conference code: 1

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

T2 - International conference on computer vision theory and applications

Y2 - 25 February 2006 through 28 February 2006

ER -

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

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Keywords

AUB Link

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