Combining different Trackers in AMIRE
Student : Benjamin Becker
Supervisor : Dipl.Inf. Martin Bauer
Updated : 13.10.2004
Student Project (SEP aka Software Entwicklungs Projekt)
Overview
This project basically combines optical tracking of markers within
AMIRE based on firewire video streams with traditional tracking techniques. Used to calculate and approximate the actual camera position & orientation the tracking system
ART was additionally supported with the
Intersense InertiaCube2.
Using this allowed a previously unimaginable combination of reality with a very exact scenegraph (vrml/x3d) of the enviroment, allowing to display data & information in a very feasible way.
Tracker Systems Picture
Proceeding
VRPN Interface(Infrared Tracking)
First step was to create an
VRPN Interface to communicate with the
ART Tracking System via UPD on ethernet. (will be WLAN)
Additionally some smoothing & extrapolation of the movement was implemented since...
- Tracking is a lot slower than the drawing.
- Tracking is not always valid
Implemented Algorithms:
- Linear interpolation between tracker data (linear interpolation now maybe use "Kalman Filter" later)
- Movement Prediction via extrapolation using a polynomial fit function
ISD Interface (Magnetic Tracking)
The ISD Interface establishes communication to the
Intersense InertiaCube2 via serial port. The tracker calculates the orientation and is (usually) always valid. It is used so only the movement needs to be extrapolated and the orientation of the device is always correct. Since inertia trackers always have a certain drift it is permanently updated by the orientation information the
ART gathers.
AMIRE (Optical Tracking)
The
VRPN and the ISD interface are both integrated into a threaded
AMIRE component which also takes care of the calculation, validation and display of the information data.
AMIRE can handle scene graphs and with our new component we can use it to create our part real, part virtual world.
More Information coming later.