The Community for Technology Leaders
2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR) (2009)
Orlando, FL, USA
Oct. 19, 2009 to Oct. 22, 2009
ISBN: 978-1-4244-5390-0
pp: 153-162
Manfred Wieser , TU Graz, Austria
Elise Taichmann , TU Graz, Austria
Dieter Schmalstieg , TU Graz, Austria
Daniel Wagner , TU Graz, Austria
Gerhard Reitmayr , Cambridge University, UK
Gerhard Schall , 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.
Manfred Wieser, Elise Taichmann, Dieter Schmalstieg, Daniel Wagner, Gerhard Reitmayr, Gerhard Schall, Bernhard Hofmann-Wellenhof, "Global pose estimation using multi-sensor fusion for outdoor Augmented Reality", 2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), vol. 00, no. , pp. 153-162, 2009, doi:10.1109/ISMAR.2009.5336489
92 ms
(Ver 3.3 (11022016))