SCAAT: Incremental tracking with incomplete information

Proceedings of the 24th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 1997

Volumn , Issue , 1997, Pages 333-344

  Welch, Greg ^a   Bishop, Gary ^a  

^a UNIVERSITY OF NORTH CAROLINA   (United States)

Author keywords

autocalibration; calibration; delay; feature tracking; Kalman filter; latency; sensor fusion; virtual environments tracking

Indexed keywords

CALIBRATION; COMPUTER GRAPHICS; DATA FUSION; KALMAN FILTERS; MOTION ESTIMATION; VIRTUAL REALITY;

AUTO CALIBRATION; DELAY; FEATURE-TRACKING; LATENCY; SENSOR FUSION;

INTERACTIVE COMPUTER GRAPHICS;

EID: 10944252019     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1145/258734.258876     Document Type: Conference Paper

References (48)

1. C.G. Atkeson and J.M. Hollerbach. 1985. "Kinematic features of unrestrained vertical arm movements," Journal of Neuroscience, 5:2318-2330.
2. Ali Azarbayejani and Alex Pentland. June 1995. "Recursive Estimation of Motion, Structure, and Focal Length," IEEE Trans. Pattern Analysis and Machine Intelligence, June 1995, 17(6).
3. Ronald Azuma and Mark Ward. 1991. "Space-Resection by Collinearity: Mathematics Behind the Optical Ceiling Head-Tracker," UNC Chapel Hill Department of Computer Science technical report TR 91-048 (November 1991).
4. Ronald Azuma and Gary Bishop. 1994. "Improving Static and Dynamic Registration in an Optical See-Through HMD," SIGGRAPH 94 Conference Proceedings, Annual Conference Series, pp. 197-204, ACM SIGGRAPH, Addison Wesley, July 1994. ISBN 0-201-60795-6
5. Ronald Azuma. 1995. "Predictive Tracking for Augmented Reality," Ph.D. dissertation, University of North Carolina at Chapel Hill, TR95-007.
6. Ted J. Broida and Rama Chellappa. 1986. "Estimation of object motion parameters from noisy images," IEEE Trans. Pattern Analysis and Machine Intelligence, January 1986, 8(1), pp. 90-99.
7. R. G. Brown and P. Y. C. Hwang. 1992. Introduction to Random Signals and Applied Kalman Filtering, 2nd Edition, John Wiley & Sons, Inc.
8. Vernon L. Chi. 1995. "Noise Model and Performance Analysis of Outward-looking Optical Trackers Using Lateral Effect Photo Diodes," University of North Carolina, Department of Computer Science, TR 95-012 (April 3, 1995)
9. Jack C.K. Chou. 1992. "Quaternion Kinematic and Dynamic Differential Equations," IEEE Transactions on Robotics and Automation, Vol. 8, No. 1, pp. 53-64.
10. J. L. Crowley and Y. Demazeau. 1993. "Principles and Techniques for Sensor Data Fusion," Signal Processing (EURASIP) Vol. 32. pp. 5-27.
11. J. J. Deyst and C. F. Price. 1968. "Conditions for Asymptotic Stability of the Discrete Minimum-Variance Linear Estimator," IEEE Transactions on Automatic Control, December, 1968.
12. S. Emura and S. Tachi. 1994. "Sensor Fusion based Measurement of Human Head Motion," Proceedings 3rd IEEE International Workshop on Robot and Human Communication, RO-MAN'94 NAGOYA (Nagoya University, Nagoya, Japan).
13. P. Fischer, R. Daniel and K. Siva. 1990. "Specification and Design of Input Devices for Teleoperation," Proceedings of the IEEE Conference on Robotics and Automation (Cincinnati, OH), pp. 540-545.
14. Eric Foxlin. 1993. "Inertial Head Tracking," Master's Thesis, Electrical Engineering and Computer Science, Massachusetts Institute of Technology.
15. M. Friedman, T. Starner, and A. Pentland. 1992. "Synchronization in Virtual Realities," Presence: Teleoperators and Virtual Environments, 1:139-144.
16. S. Ganapathy. November 1984. "Camera Location Determination Problem," AT&T Bell Laboratories Technical Memorandum, 11358-841102-20-TM.
17. G. J. Geier, P. V. W. Loomis and A. Cabak. 1987. "Guidance Simulation and Test Support for Differential GPS (Global Positioning System) Flight Experiment," National Aeronautics and Space Administration (Washington, DC) NAS 1.26:177471.
18. A. Gelb. 1974. Applied Optimal Estimation, MIT Press, Cambridge, MA.
19. Stefan Gottschalk and John F. Hughes. 1993. "Autocalibration for Virtual Environments Tracking Hardware," Proceedings of ACM SIGGRAPH 93 (Anaheim, CA, 1993), Computer Graphics, Annual Conference Series.
20. A Robert De Saint Vincent Grandjean. 1989. "3-D Modeling of Indoor Scenes by Fusion of Noisy Range and Stereo Data," IEEE International Conference on Robotics and Automation (Scottsdale, AZ), 2:681-687.
21. F. C. Ham and R. G. Brown. 1983. "Observability, Eigenvalues, and Kalman Filtering," IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-19, No. 2, pp. 269-273.
22. R. Held and N. Durlach. 1987. Telepresence, Time Delay, and Adaptation. NASA Conference Publication 10023.
23. Richard L. Holloway. 1995. "Registration Errors in Augmented Reality Systems," Ph.D. dissertation, The University of North Carolina at Chapel Hill, TR95-016.
24. O. L. R. Jacobs. 1993. Introduction to Control Theory, 2nd Edition. Oxford University Press.
25. Roy S. Kalawsky. 1993. The Science of Virtual Reality and Virtual Environments, Addison-Wesley Publishers.
26. R. E. Kalman. 1960. "A New Approach to Linear Filtering and Prediction Problems," Transaction of the ASME-Journal of Basic Engineering, pp. 35-45 (March 1960).
27. J. B. Kuipers. 1980 "SPASYN-An Electromagnetic Relative Position and Orientation Tracking System," IEEE Transactions on Instrumentation and Measurement, Vol. IM-29, No. 4, pp. 462-466.
28. Richard Lewis. 1986. Optimal Estimation with an Introduction to Stochastic Control Theory, John Wiley & Sons, Inc.
29. J. Liang, C. Shaw and M. Green. 1991. "On Temporal-spatial Realism in the Virtual Reality Environment," Fourth Annual Symposium on User Interface Software and Technology, pp. 19-25.
30. R. Mahmoud, O. Loffeld and K. Hartmann. 1994. "Multisensor Data Fusion for Automated Guided Vehicles," Proceedings of SPIE-The International Society for Optical Engineering, Vol. 2247, pp. 85-96.
31. Peter S. Maybeck. 1979. Stochastic Models, Estimation, and Control, Volume 1, Academic Press, Inc.
32. Thomas Mazuryk and Michael Gervautz. 1995. "Two-Step Prediction and Image Deflection for Exact Head Tracking in Virtual Environments," EUROGRAPHICS '95, Vol. 14, No. 3, pp. 30-41.
33. K. Meyer, H. Applewhite and F. Biocca. 1992. A Survey of Position Trackers. Presence, a publication of the Center for Research in Journalism and Mass Communication, The University of North Carolina at Chapel Hill.
34. Mark Mine. 1993. "Characterization of End-to-End Delays in Head-Mounted Display Systems," The University of North Carolina at Chapel Hill, TR93-001.
35. National Research Council. 1994. "Virtual Reality, Scientific and Technological Challenges," National Academy Press (Washington, DC).
36. P.D. Neilson. 1972. "Speed of Response or Bandwidth of Voluntary System Controlling Elbow Position in Intact Man," Medical and Biological Engineering, 10:450-459.
37. F. H. Raab, E. B. Blood, T. O. Steiner, and H. R. Jones. 1979. "Magnetic Position and Orientation Tracking System," IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-15, 709-718.
38. Selspot Technical Specifications, Selcom Laser Measurements, obtained from Innovision Systems, Inc. (Warren, MI).
39. Richard H. Y. So and Michael J. Griffin. July-August 1992. "Compensating Lags in Head-Coupled Displays Using Head Position Prediction and Image Deflection," AIAA Journal of Aircraft, Vol. 29, No. 6, pp. 1064-1068
40. H. W. Sorenson. 1970. "Least-Squares estimation: from Gauss to Kalman," IEEE Spectrum, Vol. 7, pp. 63-68, July 1970.
41. Andrei State, Gentaro Hirota, David T. Chen, Bill Garrett, Mark Livingston. 1996. "Superior Augmented Reality Registration by Integrating Landmark Tracking and Magnetic Tracking," SIGGRAPH 96 Conference Proceedings, Annual Conference Series, ACM SIGGRAPH, Addison Wesley, August 1996.
42. J. V. L. Van Pabst and Paul F. C. Krekel. "Multi Sensor Data Fusion of Points, Line Segments and Surface Segments in 3D Space," TNO Physics and Electronics Laboratory, The Hague, The Netherlands. [cited 19 November 1995]. Available from http://www.bart.nl/lawick/index.html.
43. J. Wang, R. Azuma, G. Bishop, V. Chi, J. Eyles, and H. Fuchs. 1990. "Tracking a head-mounted display in a room-sized environment with head-mounted cameras," Proceeding: SPIE'90 Technical Symposium on Optical Engineering & Photonics in Aerospace Sensing (Orlando, FL).
44. Mark Ward, Ronald Azuma, Robert Bennett, Stefan Gottschalk, and Henry Fuchs. 1992. "A Demonstrated Optical Tracker With Scalable Work Area for Head-Mounted Display Systems," Proceedings of 1992 Symposium on Interactive 3D Graphics (Cambridge, MA, 29 March-1 April 1992), pp. 43-52.
45. Wefald, K.M., and McClary, C.R. "Autocalibration of a laser gyro strapdown inertial reference/navigation system," IEEE PLANS '84. Position Location and Navigation Symposium Record.
46. Greg Welch and Gary Bishop. 1995. "An Introduction to the Kalman Filter," University of North Carolina, Department of Computer Science, TR 95-041.
47. Greg Welch, 1996. "SCAAT: Incremental Tracking with Incomplete Information," University of North Carolina at Chapel Hill, doctoral dissertation, TR 96-051.
48. H. J. Woltring. 1974. "New possibilities for human motion studies by real-time light spot position measurement," Biotelemetry, Vol. 1.