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Analysis of Head Pose Accuracy in Augmented Reality
October-December 2000 (vol. 6 no. 4)
pp. 319-334

Abstract—A method is developed to analyze the accuracy of the relative head-to-object position and orientation (pose) in augmented reality systems with head-mounted displays. From probabilistic estimates of the errors in optical tracking sensors, the uncertainty in head-to-object pose can be computed in the form of a covariance matrix. The positional uncertainty can be visualized as a 3D ellipsoid. One useful benefit of having an explicit representation of uncertainty is that we can fuse sensor data from a combination of fixed and head-mounted sensors in order to improve the overall registration accuracy. The method was applied to the analysis of an experimental augmented reality system, incorporating an optical see-through head-mounted display, a head-mounted CCD camera, and a fixed optical tracking sensor. The uncertainty of the pose of a movable object with respect to the head-mounted display was analyzed. By using both fixed and head mounted sensors, we produced a pose estimate that is significantly more accurate than that produced by either sensor acting alone.

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Index Terms:
Augmented reality, pose estimation, registration, uncertainty analysis, error propagation, calibration.
William Hoff, Tyrone Vincent, "Analysis of Head Pose Accuracy in Augmented Reality," IEEE Transactions on Visualization and Computer Graphics, vol. 6, no. 4, pp. 319-334, Oct.-Dec. 2000, doi:10.1109/2945.895877
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