Outside-in monocular IR camera based HMD pose estimation via geometric optimization

Savkin, Pavel A.; Saito, Shunsuke; Vansteenberge, Jarich; Fukusato, Tsukasa; Wilson, Lochlainn; Morishima, Shigeo

doi:10.1145/3139131.3139136

Cited by 1 publication

(2 citation statements)

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“…Many different possible markers could be used, such as retroreflective markers, Secchi markers [ 7 ], or LEDs [ 8 ]. LED markers, in particular, have been used inexpensively and effectively in many applications (e.g., He et al [ 7 ], Rambach et al [ 9 ], and Savkin et al [ 10 ]) and can be quickly identified in an image through the use of thresholding, segmentation, and morphological operations.…”

Section: Selection Of Optical Tracking Algorithmmentioning

confidence: 99%

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Development of a Low-Cost 6 DOF Brick Tracking System for Use in Advanced Gas-Cooled Reactor Model Tests

Olson

Crewe

Gökçe

et al. 2022

Sensors

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This paper presents the design of a low-cost, compact instrumentation system to enable six degree of freedom motion tracking of acetal bricks within an experimental model of a cracked Advanced Gas-Cooled Reactor (AGR) core. The system comprises optical and inertial sensors and capitalises on the advantages offered by data fusion techniques. The optical system tracks LED indicators, allowing a brick to be accurately located even in cluttered images. The LED positions are identified using a geometrical correspondence algorithm, which was optimised to be computationally efficient for shallow movements, and complex camera distortions are corrected using a versatile Incident Ray-Tracking calibration. Then, a Perspective-Ray-based Scaled Orthographic projection with Iteration (PRSOI) algorithm is applied to each LED position to determine the six degree of freedom pose. Results from experiments show that the system achieves a low Root Mean Squared (RMS) error of 0.2296 mm in x, 0.3943 mm in y, and 0.0703 mm in z. Although providing an accurate measurement solution, the optical tracking system has a low sample rate and requires the line of sight to be maintained throughout each test. To increase the robustness, accuracy, and sampling frequency of the system, the optical system can be augmented with an Inertial Measurement Unit (IMU). This paper presents a method to integrate the optical system and IMU data by accurately timestamping data from each set of sensors and aligning the two coordinate axes. Once miniaturised, the developed system will be used to track smaller components within the AGR models that cannot be tracked with current instrumentation, expanding reactor core modelling capabilities.

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Section: Selection Of Optical Tracking Algorithmmentioning

confidence: 99%

“…The effects of motion blur have been reduced successfully in a number of studies. In particular, Savkin et al [ 10 ] have reported an effective method for correctly finding the centre of mass of multiple LEDs based on the geometry of the motion blur and IMU acceleration data.…”

Section: System Developmentmentioning

confidence: 99%