Scenarios for the Fusion of Optical and Magnetic Tracking

Fusion of A.R.T. 6D output and MicroBIRD 6D output

• Black-Box Fusion
• useful as an exercise and for testing the FIltering based on quaternions

Fusion of A.R.T. 6D output and Aurora 5D output

• enhance the 5D output by a 6D state estimate
• should (?) give more that just extracting the missing DOF from the other sensors reading

Fusion of (mutiple) A.R.T. 2D measurements and MicroBIRD 6D output

• needs to re-implement the 2d/3d mapping for that
• also has partial measurements from the 2D camera image to describe a 6D vector

Fusion of (mutiple) A.R.T. 2D measurements and Aurora 5D output

• really use all the available information, dont drop measurements