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Issue No. 04 - October-December (2000 vol. 6)
ISSN: 1077-2626
pp: 319-334
<p><b>Abstract</b>—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.</p>
Augmented reality, pose estimation, registration, uncertainty analysis, error propagation, calibration.

T. Vincent and W. Hoff, "Analysis of Head Pose Accuracy in Augmented Reality," in IEEE Transactions on Visualization & Computer Graphics, vol. 6, no. , pp. 319-334, 2000.
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