Startseite The Achilles Heels of Optical Tracking Systems: Occlusions and Optical Interferences A.R.T.

s Solutions
Dr.-Ing. Konrad Zrl

Am ferl 6 D-82362 Weilheim - GERMANY Phone: +49 881 92530-00 Fax : +49 881 92530-01

www.ar-tracking.de

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Motivtion Optical tracking is accurate and reliable in limited measurement volumes indoor for VR & AR applications Line of sight: function principle Achilles heels: occlusions interferences

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A.R.T. Tracking: Function Principle

tracking camera (ARTtrack1)

IR flash

retro reflected light

grayscale image
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target with retro reflective markers

grayscale image
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A.R.T. Tracking camera functionality

CCD camera Signal proc. RT Linux PC IR flash

2dof data

Centers of gravity of all marker images are calculated: 2dof data

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A.R.T. Tracking: Function Principle

2 dof data is sent to PC DTrack calculates 3dof and 6dof data
Ethernet

3dof, 6dof
Ethernet

2dof data

PC with DTrack: 3 dof and 6 dof calculation

Ethernet

2dof data

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Occlusions

Occlusions: 1. 2. 3. Add more tracking cameras Use large targets Single camera tracking

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Occlusions
Two or more users in front of a VR projection Self-occlusions

Foto: Volkswagen, at IZB 2004

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Foto: imagination & vrvis

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Multi-camera systems: mutual blinding

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Time multiplexing - no blinding

Camera IR flash syncgroup 1 t=20...380us CCD sensitive (exposure) syncgroup 1 t=380us Camera IR flash syncgroup 2 t=20...380us CCD sensitive (exposure) syncgroup 2 t=380us

syncgroup 1

syncgroup 2
Camera IR flash syncgroup 3 t=20...380us CCD sensitive (exposure) syncgroup 3 t=380us

syncgroup 3

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Occlusions: large targets

large redundant targets with >4 markers begin tracking if 4 markers are seen by 2 cameras maintain tracking if the same 3 markers are seen by 2 cameras maintain tracking if any 3 markers are seen by 2 cameras (or similar conditions)

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Single camera tracking

+ Target geometry (body file) + Last 6 dof target coordinates before occlusion + 2dof information of one camera
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6 dof target coordinates can be calculated However: larger errors (compared to normal 2 camera tracking) in z direction (optical axis)
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Targets: improved accuracy Merging markers: less accuracy Improved pattern recognition algorithm Test for roundness (marker quality) Feedback algorithm (adaptive pattern recognition) non-merging targets with
Flat round markers on planes Unidirectional active markers Addressable active markers

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Active markers and targets

Welding gun Unidirectional target planes Finger tracking Time sequentially addressed active markers (wireless, controlled by camera IR flash)
diffusing sphere IR-LED

60o

LED

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External Interferences
Unwanted reflections
Retro reflecting objects:
sport clothes or sport shoes car back lights Car licence plate

Static reflex suppression Dynamic reflex suppression

Some metal surfaces

IR light sources
Sun light Light bulb illumination

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Hybrid (optical) tracking

outside in
fixed cameras, moving target(s) high position accuracy wireless moving objects: simple

inside out
fixed targets, moving camera(s) high angular accuracy wireless moving objects: difficult (radio transmission in real time)

Tracked endoscope in minimal invasive surgery

Small angular error at target transfers into a large position error at tip of instrument
Foto: University of Erlangen Florian Vogt, sfb-603
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Conclusions A lot of special features must be implemented in an optical tracking system to be accurate and reliable and fast (realtime) A.R.T. provides such tracking systems based on our own hardware and software.

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