The HiBall Tracker: high-performance wide-area tracking for virtual and augmented environments

ABSTRACT

Our HiBall Tracking System generates over 2000 head-pose estimates per second with less than one millisecond of latency, and less than 0.5 millimeters and 0.02 degrees of position and orientation noise, everywhere in a 4.5 by 8.5 meter room. The system is remarkably responsive and robust, enabling VR applications and experiments that previously would have been difficult or even impossible.Previously we published descriptions of only the Kalman filter-based software approach that we call Single-Constraint-at-a-Time tracking. In this paper we describe the complete tracking system, including the novel optical, mechanical, electrical, and algorithmic aspects that enable the unparalleled performance.

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INDEX TERMS

Primary Classification:
  H. Information Systems
  H.5 INFORMATION INTERFACES AND PRESENTATION (I.7)
      H.5.1 Multimedia Information Systems
          Subjects: Artificial, augmented, and virtual realities

Additional Classification:
  I. Computing Methodologies
  I.3 COMPUTER GRAPHICS
      I.3.7 Three-Dimensional Graphics and Realism
          Subjects: Virtual reality
  I.4 IMAGE PROCESSING AND COMPUTER VISION
      I.4.8 Scene Analysis
          Subjects: Tracking

General Terms:
Design, Measurement, Performance, Theory

Keywords:
Kalman filter, autocalibration, calibration, delay, latency, optical sensor, sensor fusion, tracking, virtual enviroments