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2009 8th IEEE International Symposium on Mixed and Augmented Reality
Global pose estimation using multi-sensor fusion for outdoor Augmented Reality
Orlando, FL, USA
October 19-October 22
ISBN: 978-1-4244-5390-0
Gerhard Schall, TU Graz, Austria
Daniel Wagner, TU Graz, Austria
Gerhard Reitmayr, Cambridge University, UK
Elise Taichmann, TU Graz, Austria
Manfred Wieser, TU Graz, Austria
Dieter Schmalstieg, TU Graz, Austria
Bernhard Hofmann-Wellenhof, TU Graz, Austria
Outdoor Augmented Reality typically requires tracking in unprepared environments. For global registration, Global Positioning System (GPS) is currently the best sensing technology, but its precision and update rate are not sufficient for high quality tracking. We present a system that uses Kalman filtering for fusion of Differential GPS (DGPS) or Real-Time Kinematic (RTK) based GPS with barometric heights and also for an inertial measurement unit with gyroscopes, magnetometers and accelerometers to improve the transient oscillation. Typically, inertial sensors are subjected to drift and magnetometer measurements are distorted by electro-magnetic fields in the environment. For compensation, we additionally apply a visual orientation tracker which is drift-free through online mapping of the unknown environment. This tracker allows for correction of distortions of the 3-axis magnetic compass, which increases the robustness and accuracy of the pose estimates. We present results of applying this approach in an industrial application scenario.
Citation:
Gerhard Schall, Daniel Wagner, Gerhard Reitmayr, Elise Taichmann, Manfred Wieser, Dieter Schmalstieg, Bernhard Hofmann-Wellenhof, "Global pose estimation using multi-sensor fusion for outdoor Augmented Reality," ismar, pp.153-162, 2009 8th IEEE International Symposium on Mixed and Augmented Reality, 2009
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