Article

Free access

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

Authors:

Stephen Brumback,

D'nardo ColucciAuthors Info & Claims

VRST '99: Proceedings of the ACM symposium on Virtual reality software and technology

Pages 1 - ff.

https://doi.org/10.1145/323663.323664

Published: 20 December 1999 Publication History

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.

References

[1]

"Alpha 1 Publications," University of Utah, Department of Computer Science. {Cited May 28, 1999}. Available from http:l/www.cs.utah.edu/projects/alpha 1/ a l_publications.html.

[2]

Azarbayejani, Ali, and Alex Pentland. June 1995. "Recursive Estimation of Motion, Structure, and Focal Length," 1EEE Trans. Pattern Analysis and Machine Intelligence, June 1995, 17(6).

Digital Library

[3]

Azuma, Ronald. 1995. "Predictive Tracking for Augmented Reality," Ph.D. dissertation, University of North Carolina at Chapel Hill, TR95-007.

Digital Library

[4]

Azuma, Ronald and Mark Ward. 1991. "Space-Resection by Collinearity: Mathematics Behind the Optical Ceiling Head-Tracker," UNC Chapel Hill Department of Computer Science technical report TR 91-048 (November 1991).

Digital Library

[5]

Azuma, Ronald and Gary Bishop. 1995. "A Frequency- Domain Analysis of Head-Motion Prediction," Proceedings of SIGGRAPH 95 (Los Angeles, CA), August 6-11 1995. pp. 401-408.

Digital Library

[6]

Bar-Shalom, Yaakov, and Xiao-Rong Li. 1993. Estimation and Tracking: Principles, Techniques, and Software. Artec House, Inc.

[7]

Brown, R.G. and P. ~. C. Hwang. 1992. Introduction to Random Signals and Applied Kalman Filtering, 2nd Edition, John Wiley & Sons, Inc.

[8]

Chi, Vernon L. "Noise Model and Performance Analysis Of Outward-looking Optical Trackers Using Lateral Effect Photo Diodes," TR95-012, Department of Computer Science, UNC at Chapel Hill, April 1995.

Digital Library

[9]

Emura, S. and S. Tachi. 1994. "Sensor Fusion based Measurement of Human Head Motion," Proceedings 3rd IEEE International Workshop on Robot and Human Communication, RO-MAN'94 NAGOYA (Nagoya University, Nagoya, Japan).

[10]

Foxlin, Eric. 1993. "Inertial Head Tracking,' Master's Thesis, Electrical Engineering and Computer Science, Massachusetts Institute of Technology.

[11]

Foxlin, Eric, Michael Harrington, George Pfeifer. 1998. "ConstellationXM: A Wide-Range Wireless Motion- Tracking System for Augmented Reality and Virtual Set Applications," SIGGRAPH 98 Conference Proceedings, Annual Conference Series. ACM SIGGRAPH, July 19-24, t998, Orlando, FL.

Digital Library

[12]

Gelb, A. 1974. Applied Optimal Estimation, MIT Press, Cambridge, MA.

[13]

Gottschalk, Stefan, and John E Hughes. 1993. "Autocalibration for Virtual Environments Tracking Hardware," Proceedings of Annual Conference Series, ACM SIGGRAPH 93 (Anaheim, CA, 1993).

Digital Library

[14]

Jacobs, O. L. R. 1993. Introduction to Control Theory, 2nd Edition. Oxford University Press.

[15]

Kalman, R.E. 1960. "A New Approach to Linear Filtering and Prediction Problems" Transaction of the ASME~Journal of Basic Engineering, pp. 35-45 (March 1960).

[16]

Lewis, Richard. 1986. Optimal Estimation with an Introduction to Stochastic Control Theory, John Wiley & Sons, Inc.

[17]

Maybeck, Peter S. 1979. Stochastic Models, Estimation, and Control, Volume 1, Academic Press, Inc.

[18]

Mazuryk, Thomas and Michael Gervautz. 1995. "Two- Step Prediction and Image Deflection for Exact Head Tracking in Virtual Environments," EUROGRAPH1CS '95, Vol. 14, No. 3, pp. 30-41.

[19]

Press, William H., Brian E Flannery, Saul A. Teukolsky, and William T. Vetterling. 1990. Numerical Recipes in C, The Art of Scientific Computing, Cambridge University Press.

Digital Library

[20]

Sorenson, H.W. 1970. "Least-Squares estimation: from Gauss to Kalman," IEEE Spectrum, Vol. 7, pp. 63-68, July 1970.

Digital Library

[21]

Thomas, S. W., "The Alpha_l Computer-Aided Geometric Design System in the Unix Environment," in Proc. Computer Graphics and Unix Workshop (Katz, L., ed.), USENIX Organization, Dec. 1984.

[22]

Usoh, Martin, Kevin Arthur, Mary C. Whitton, Rui Bastos, Anthony Steed, Mel Slater, Frederick P. Brooks, Jr. "Walking > Walking-in-Place > Flying, in Virtual Environments," to appear in SIGGRAPH 99 Conference Proceedings, Annual Conference Series. ACM SIG- GRAPH, August 1999, Los Angeles, CA.

Digital Library

[23]

Van Pabst, J. V. L. and Paul F. C. Krekel. "Multi Sensor Data Fusion of Points, Line Segments and Surface Segments in 3D Space," TNO Physics and Electronics Laboratory, The Hague, The Netherlands. {cited 19 November 1995}. Available from http://www.bart.nl/ --lawick/index.html.

[24]

Wang, Jih-fang, Ronald Azuma, Gary B ishop, Vernon Chi, John Eyles, Henry Fuchs, "Tracking a Headmounted Display in a Room-sized environment with Head-mounted Cameras," Proceedings of the SPIE 1990 Technical Symposium on Optical Engineering and Photonics in Aerospace Sensing, Orlando, Florida, 16-20 April 1990.

[25]

Wang, Jih-fang, Vernon Chi, Henry Fuchs, "A Realtime Optical 3D Tracker for Head-mounted Display Systems," Proceedings of the 1990 Symposium on Interactive 3D Graphics, Snowbird, UT, 25-28 March 1990; in Computer Graphics, Vol. 24, No. 2, March, 1990, pp. 205-215.

Digital Library

[26]

Ward, Mark, Ronald Azuma, Robert Bennett, Stefan Gottschalk, and Henry Fuchs. 1992. "A Demonstrated Optical Tracker With Scalable Work Area for Head- Mounted Display Systems," Proceedings of 1992 Symposium on interactive 3D Graphics (Cambridge, MA, 29 March - I April 1992), pp. 43-52.

Digital Library

[27]

Welch, Gregory. 1995. "Hybrid Self-Tracker: An Inertial/Optical Hybrid Three-Dimensional Tracking System," University of North Carolina, Department of Computer Science, TR 95-048.

Digital Library

[28]

Welch, Gregory and Gary Bishop. 1997. "SCAAT: Incremental Tracking with Incomplete Information," SIGGRAPH 97 Conference Proceedings, Annual Conference Series. ACM SIGGRAPH, August 1997, Los Angeles, CA.

Digital Library

[29]

Welch, Gregory. 1996. "SCAAT: Incremental Tracking with Incomplete Information," University of North Carolina at Chapel Hill, doctoral dissertation, Technical Report TR 96-051.

Digital Library

[30]

Welch, Gregory and Gary Bishop. 1995. "An Introduction to the Kalman Filter," University of North Carolina, Department of Computer Science, TR 95-041.

Digital Library

[31]

Welch, ED. "The Use of Fast Fourier Transform for the Estimation of Power Spectra: A Method Based on Time Averaging Over Short, Modified Periodograms."/EEE Trans. Audio Electroacoust. Vol. ALl-15 (June 1967). pp. 70-73.

[32]

ZEMAX Optical Design Program User's Guide, Version 4.5, Focus Software, Inc., Tucson, AZ, 1995.

Cited By

Raj MGeorge S(2024)A Fast and Efficient Approach for Human Action Recovery From Corrupted 3-D Motion Capture Data Using QR Decomposition-Based Approximate SVDIEEE Transactions on Human-Machine Systems10.1109/THMS.2024.340029054:4(395-405)Online publication date: Aug-2024
https://doi.org/10.1109/THMS.2024.3400290
Niu ZRen YLin JMa KZhu J(2024)An accurate and robust visual-inertial positioning methodMeasurement Science and Technology10.1088/1361-6501/ad115635:4(045902)Online publication date: 9-Jan-2024
https://doi.org/10.1088/1361-6501/ad1156
Aoki HHiroi YItoh YRekimoto J(2023)Retinal Homing Display: Head-Tracking Auto-stereoscopic Retinal Projection DisplayProceedings of the 29th ACM Symposium on Virtual Reality Software and Technology10.1145/3611659.3615715(1-10)Online publication date: 9-Oct-2023
https://dl.acm.org/doi/10.1145/3611659.3615715
Show More Cited By

Index Terms

The HiBall Tracker: high-performance wide-area tracking for virtual and augmented environments
1. Computing methodologies
  1. Artificial intelligence
    1. Computer vision
      1. Computer vision problems
        Tracking
      2. Computer vision tasks
        Scene understanding
  2. Computer graphics
    1. Graphics systems and interfaces
      1. Virtual reality
2. Human-centered computing
  1. Human computer interaction (HCI)
    1. Interaction paradigms
      1. Mixed / augmented reality
      2. Virtual reality

Recommendations

SCAAT: incremental tracking with incomplete information
SIGGRAPH '97: Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Vision-Based Pose Computation: Robust and Accurate Augmented Reality Tracking
IWAR '99: Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality

Vision-based tracking systems have advantages for augmented reality (AR) applications. Their registration can be very accurate, and there is no delay between the motions of real and virtual scene elements. However, vision-based tracking often suffers ...
Tracking Multiple Occluding People by Localizing on Multiple Scene Planes

Occlusion and lack of visibility in crowded and cluttered scenes make it difficult to track individual people correctly and consistently, particularly in a single view. We present a multi-view approach to solving this problem. In our approach we neither ...

Comments

Information & Contributors

Information

Published In

cover image ACM Conferences

VRST '99: Proceedings of the ACM symposium on Virtual reality software and technology

December 1999

194 pages

ISBN:1581131410

DOI:10.1145/323663

Chairmen:
Don Brutzman
Naval Postgraduate School, Montery, CA
,
Heedong Ko
Korea Institute of Science Technology, Seoul, Korea
,
Mel Slater
Univ. College London, London, UK

Copyright © 1999 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 20 December 1999

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Article

Conference

VRST99

Sponsor:

VRST99: Virtual Software and Technology 1999

December 20 - 22, 1999

London, United Kingdom

Acceptance Rates

Overall Acceptance Rate 66 of 254 submissions, 26%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

95
Total Citations
View Citations
1,073
Total Downloads

Downloads (Last 12 months)72
Downloads (Last 6 weeks)14

Reflects downloads up to 04 Oct 2024

Other Metrics

View Author Metrics

Citations

Cited By

Raj MGeorge S(2024)A Fast and Efficient Approach for Human Action Recovery From Corrupted 3-D Motion Capture Data Using QR Decomposition-Based Approximate SVDIEEE Transactions on Human-Machine Systems10.1109/THMS.2024.340029054:4(395-405)Online publication date: Aug-2024
https://doi.org/10.1109/THMS.2024.3400290
Niu ZRen YLin JMa KZhu J(2024)An accurate and robust visual-inertial positioning methodMeasurement Science and Technology10.1088/1361-6501/ad115635:4(045902)Online publication date: 9-Jan-2024
https://doi.org/10.1088/1361-6501/ad1156
Aoki HHiroi YItoh YRekimoto J(2023)Retinal Homing Display: Head-Tracking Auto-stereoscopic Retinal Projection DisplayProceedings of the 29th ACM Symposium on Virtual Reality Software and Technology10.1145/3611659.3615715(1-10)Online publication date: 9-Oct-2023
https://dl.acm.org/doi/10.1145/3611659.3615715
Hiroi YWatanabe AMikawa YItoh Y(2023)Low-Latency Beaming Display: Implementation of Wearable, 133 μs Motion-to-Photon Latency Near-Eye DisplayIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2023.332021229:11(4761-4771)Online publication date: Nov-2023
https://doi.org/10.1109/TVCG.2023.3320212
Gsaxner CLi JPepe ASchmalstieg DEgger J(2021)Inside-Out Instrument Tracking for Surgical Navigation in Augmented RealityProceedings of the 27th ACM Symposium on Virtual Reality Software and Technology10.1145/3489849.3489863(1-11)Online publication date: 8-Dec-2021
https://dl.acm.org/doi/10.1145/3489849.3489863
Muchallil SHalnum KGriwodz C(2021)Low-latency head-tracking for Augmented Reality2021 International Conference on Computer System, Information Technology, and Electrical Engineering (COSITE)10.1109/COSITE52651.2021.9649619(192-197)Online publication date: 20-Oct-2021
https://doi.org/10.1109/COSITE52651.2021.9649619
Phan GHansen CTommasino PHussain AFormica DCampolo D(2020)A Complementary Filter Design on SE(3) to Identify Micro-Motions during 3D Motion TrackingSensors10.3390/s2020586420:20(5864)Online publication date: 16-Oct-2020
https://doi.org/10.3390/s20205864
Niu ZRen YYang LLin JZhu J(2019)A Multi-Camera Rig with Non-Overlapping Views for Dynamic Six-Degree-of-Freedom MeasurementSensors10.3390/s1902025019:2(250)Online publication date: 10-Jan-2019
https://doi.org/10.3390/s19020250
Mohr PTatzgern MLanglotz TLang ASchmalstieg DKalkofen DBrewster SFitzpatrick GCox AKostakos V(2019)TrackCapProceedings of the 2019 CHI Conference on Human Factors in Computing Systems10.1145/3290605.3300815(1-11)Online publication date: 2-May-2019
https://dl.acm.org/doi/10.1145/3290605.3300815
Blate AWhitton MSingh MWelch GState AWhitted TFuchs H(2019)Implementation and Evaluation of a 50 kHz, $28\mu\mathrm{s}$ Motion-to-Pose Latency Head Tracking InstrumentIEEE Transactions on Visualization and Computer Graphics10.1109/TVCG.2019.289923325:5(1970-1980)Online publication date: May-2019
https://doi.org/10.1109/TVCG.2019.2899233
Show More Cited By

View Options

View options

PDF

View or Download as a PDF file.

eReader

View online with eReader.

Get Access

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Full Access

Get this Publication

Media

Figures

Other

Tables

View Table of Contents