Real-time Vision-Based Camera Tracking for Augmented Reality Applications
Dieter Koller ,
Gudrun Klinker,
Eric Rose,
David Breen,
Ross Whitaker, and
Mihran Tuceryan
In Proceedings of the Symposium on Virtual Reality
Software and Technology (VRST-97),
Lausanne, Switzerland, September 15-17, 1997, pp. 87-94.
Abstract
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)
determining the
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.
The document is available online as
zipped postscript (1555838 Bytes) or
PDF file (3170422 Bytes).
Last modified on Thursday, June 12, 1997
Dieter Koller
(koller@vision.caltech.edu)