Real-time Vision-Based Camera Tracking for Augmented Reality Applications
Dieter Koller ,
Ross Whitaker, and
In Proceedings of the Symposium on Virtual Reality
Software and Technology (VRST-97),
Lausanne, Switzerland, September 15-17, 1997, pp. 87-94.
Augmented reality deals with the problem of dynamically augmenting or
enhancing (images or live video of) the real world with computer generated
data (e.g., graphics of virtual objects). This poses two major problems: (a)
precise alignment of real and virtual coordinate frames for overlay, and (b)
capturing the 3D environment including camera and object motions.
The latter is important for interactive augmented reality applications where
users can interact with both real and virtual objects.
Here we address the problem of accurately tracking the 3D motion of
a monocular camera in a known 3D environment and dynamically estimating the
3D camera location. We utilize fully automated landmark-based camera calibration
to initialize the motion estimation and employ extended Kalman filter techniques
to track landmarks and to estimate the camera location.
The implementation of our approach has been proven to be efficient and robust and
our system successfully tracks in real-time at approximately 10~Hz.
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Last modified on Thursday, June 12, 1997