增强现实混合跟踪技术综述

罗斌; 王涌天; 沈浩; 吴志杰; 刘越

doi:10.3724/SP.J.1004.2013.01185

增强现实混合跟踪技术综述

doi: 10.3724/SP.J.1004.2013.01185

1.
中国工程物理研究院计算机应用研究所绵阳 621900;
2.
北京理工大学光电学院北京 100081

基金项目:

国家自然科学基金(61072096);国家科技重大专项基金(2012ZX030 02004);中国工程物理研究院科学技术发展基金(2010B0203023, 2012 B0403068);国家部委项目资助

详细信息

作者简介:
罗斌中国工程物理研究院计算机应用研究所高级工程师, 博士. 1997 年获北京理工大学光电工程系学士学位,2000 年获中国工程物理研究院硕士学位, 2010 年获北京理工大学光电学院博士学位. 主要研究方向为虚拟现实和增强现实技术.E-mail: luobin1827@bit.edu.cn

计量
- 文章访问数: 2111
- HTML全文浏览量: 97
- PDF下载量: 3677
- 被引次数: 0
出版历程
- 收稿日期: 2011-11-22
- 修回日期: 2012-10-25
- 刊出日期: 2013-08-20

Overview of Hybrid Tracking in Augmented Reality

1.
Institute of Computer Application, Chinese Academy of Engineering and Physics, Mianyang 621900;
2.
School of Optelectronics, Beijing Institute of Technology, Beijing 100081

Funds:

Supported by National Natural Science Foundation of China (61072096), the Major National Science and Technology Projects (2012ZX03002004), the Science Technology Development Foun- dation of Chinese Academy of Engineering and Physics (2010B02 03023, 2012B0403068), and the Project of National Ministries and Commissions

摘要

摘要: 混合跟踪是增强现实(Augmented reality, AR)领域最近二十年发展迅速的重要关键技术, 是增强现实姿态跟踪系统同时实现高精度和强鲁棒性的有效途径. 本文全面完整地论述了增强现实混合跟踪技术,详细阐述了混合跟踪器所涉及的混合跟踪、标定和时间同步等重要方法, 介绍了不同类型混合跟踪器的当前应用现状,然后探讨了混合跟踪技术的发展趋势及其存在的难题,最后展望了混合跟踪技术的应用前景.
- 增强现实 /
- 混合跟踪 /
- 传感器融合 /
- 标定 /
- 时间同步
Abstract: Hybrid tracking is one of the most important key technologies having received rapid development over the past twenty years in the field of augmented reality (AR). It is an effective approach to realize head-pose tracking with high accuracy and strong robustness for AR application systems. This paper tries to provide a complete and comprehensive survey on hybrid tracking technology. Three important issues involved in hybrid trackers are described in detail, including hybrid tracking method, calibration, and time synchronization. The state-of-the-art applications of different hybrid trackers are introduced. The pending problems and development tendency of hybrid tracking technology are discussed, and finally the application prospect is reviewed.
- Augmented reality (AR) /
- hybrid tracking /
- sensor fusion /
- calibration /
- time synchronization

HTML全文

参考文献(121)

[1]	Caudell T P, Mizell D W. Augmented reality: an application of heads-up display technology to manual manufacturing processes. In: Proceedings of the 25th Hawaii International Conference on System Sciences. Hawaii: IEEE, 1992. 659-669
[2]	[2] Milgram P, Furnio K. A taxonomy of mixed reality visual displays. IEICE Transactions on Information and Systems, 1994, E77-D(12): 1321-1329
[3]	[3] Azuma R, Baillot Y, Behringer R, Feiner S, Julier S, MacIntyre B. Recent advances in augmented reality. IEEE Computer Graphics and Applications, 2001, 21(6): 34-47
[4]	[4] Feng Z, Duh H B L, Billinghurst M. Trends in augmented reality tracking, interaction and display: a review of ten years of ISMAR. In: Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality. Cambridge, UK: IEEE, 2008. 193-202
[5]	[5] Carmigniani J, Furht B, Anisetti M, Ceravolo P, Damiani E, Ivkovic M. Augmented reality technologies, systems and applications. Multimedia Tools and Applications, 2011, 51(1): 341-377
[6]	[6] Rolland J P, Baillot Y, Goon A A. A Survey of Tracking Technology for Virtual Environments, Technical Report, University of Central Florida, Orlando FL, USA, 1999
[7]	Wang Yong-Tian, Liu Yue, Hu Xiao-Ming. Study on key technique and application of outdoor AR system. Journal of System Simulation, 2003, 15(3): 329-333(王涌天, 刘越, 胡晓明. 户外增强现实系统关键技术及其应用的研究. 系统仿真学报, 2003, 15(3): 329-333)
[8]	[8] Chen Jing, Wang Yong-Tian, Liu Yue, Axel P. Real-time structure and motion by fusion of inertial and vision data for mobile AR system. Journal of Beijing Institute of Technology, 2006, 15(4): 431-436
[9]	Chen Jing, Wang Yong-Tian, Liu Yue, Liu Wei, Guo Jun-Wei, Lin Jing-Dun. Hybrid tracking for outdoor augmented reality system. Journal of Computer-Aided Design and Computer Graphics, 2010, 22(2): 204-209 (陈靖, 王涌天, 刘越, 刘伟, 郭俊伟, 林精敦. 适用于户外增强现实系统的混合跟踪定位算法. 计算机辅助设计与图形学学报, 2010, 22(2): 204-209)
[10]	Su Hong, Kang Bo. Implementation of hybrid tracking technique in augmented reality system. Computer Engineering, 2009, 35(4): 268-270 (苏宏, 康波. 混合跟踪技术在增强现实系统中的应用. 计算机工程, 2009, 35(4): 268-270)
[11]	Li Xin-Yu, Chen Dong-Yi. Design and implementation of augmented reality system based on hybrid tracking. Journal of Computer Applications, 2009, 29(10): 2852-2854, 2858 (李薪宇, 陈东义. 基于混合跟踪的增强现实系统设计与实现. 计算机应用, 2009, 29(10): 2852-2854, 2858)
[12]	Luo Bin. On Multi-Sensor Fusion Based Pose Tracking System and Calibration Technology[Ph.D. dissertation], Beijing Institute of Technology, China, 2010(罗斌. 多传感器融合的姿态跟踪系统及其标定技术研究[博士学位论文], 北京理工大学, 中国, 2010)
[13]	Luo Bin, Wang Yong-Tian, Liu Yue. Multi-sensor data fusion for optical tracking of head pose. Acta Automatica Sinica, 2010, 36(9): 1239-1249(罗斌, 王涌天, 刘越. 光学头部姿态跟踪的多传感器数据融合研究. 自动化学报, 2010, 36(9): 1239-1249)
[14]	Yang Hao, Zhang Feng, Ye Jun-Tao. A camera-IMU relative pose calibration method. Robot, 2011, 33(4): 419-426(杨浩, 张峰, 叶军涛. 摄像机和惯性测量单元的相对位姿标定方法. 机器人, 2011, 33(4): 419-426)
[15]	Brooks R R, Iyengar S S. Real-time distributed sensor fusion for time-critical sensor readings. Optical Engineering, 1997, 36(3): 767-779
[16]	Kalman R E. A new approach to linear filtering and prediction problems. Transactions of the ASME-Journal of Basic Engineering, 1960, (82: Series D): 34-45
[17]	Julier S J, Uhlmann J K. Unscented filtering and nonlinear estimation. Proceedings of the IEEE, 2004, 92(3): 401-422
[18]	Bar-Shalom Y, Li X R, Kirubarajan T. Estimation with Applications to Tracking and Navigation. New York: Wiley-Interscience Publication, 2001
[19]	Gelb A, Kasper J F, Nash R A, Price C F, Sutherland A A. Applied Optimal Estimation. Massachusetts, US: MIT Press Publication, 2001
[20]	Feiner S, Macintyre B, Hollerer T, Webster A. A touring machine: prototyping 3D mobile augmented reality systems for exploring the urban environment. In: Proceedings of the 1st International Symposium on Wearable Computers. Cambridge, Massachusetts, USA: IEEE, 1997. 74-81
[21]	Behringer R. Registration for outdoor augmented reality applications using computer vision techniques and hybrid sensors. In: Proceedings of the 1999 IEEE Virtual Reality. Houston, Texas, USA: IEEE, 1999. 244-251
[22]	Piekarski W, Gunther B, Thomas B. Integrating virtual and augmented realities in an outdoor application. In: Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality. San Francisco, CA, USA: IEEE, 1999. 45-54
[23]	Maeda M, Ogawa T, Kiyokawa K, Takemura H. Tracking of user position and orientation by stereo measurement of infrared markers and orientation sensing. In: Proceedings of the 8th International Symposium on Wearable Computers. Arlington, VA, USA: IEEE, 2004. 77-84
[24]	Schall G, Wagner D, Reitmayr G, Taichmann E, Wieser M, Schmalstieg D, Hofmann-Wellenhof B. Global pose estimation using multi-sensor fusion for outdoor augmented reality. In: Proceedings of the 8th IEEE International Symposium on Mixed and Augmented Reality. Orlando, Florida, USA: IEEE, 2009. 153-162
[25]	Maidi M, Ababsa F, Mallem M. Vision-inertial tracking system for robust fiducials registration in augmented reality. In: Proceedings of the 2009 IEEE Symposium on Computational Intelligence for Multimedia Signal and Vision Processing. Nashville, TN, USA: IEEE, 2009. 83-90
[26]	Welch G, Bishop G. SCAAT: incremental tracking with incomplete information. In: Proceedings of the 24th annual conference on SIGRAPH 1997. Los Angeles, CA, USA: ACM Press/Addison-Wesley Publication, 1997. 333-344
[27]	Jiang B. Robust Hybrid Tracking for Outdoor Augmented Reality[Ph.D. dissertation], University of Southern California, USA, 2004
[28]	Lin C, Nguyen K, Hoff B, Vincent T. An adaptive estimator for registration in augmented reality. In: Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality. San Francisco, CA, USA: IEEE, 1999. 23-32
[29]	Ababsa F E, Mallem M. Inertial and vision head tracker sensor fusion using a particle filter for augmented reality systems. In: Proceedings of the 2004 International Symposium on Circuits and Systems. Vancouver, British Columbia, Canada: IEEE, 2004. 861-864
[30]	Klein G, Drummond T. Sensor fusion and occlusion refinement for tablet-based AR. In: Proceedings of the 3rd IEEE and ACM International Symposium on Mixed and Augmented Reality. Arlington, VA: IEEE, 2004. 38-47
[31]	Reitmayr G, Drummond T W. Going out: robust model-based tracking for outdoor augmented reality. In: Proceedings of the 2006 IEEE/ACM International Symposium on Mixed and Augmented Reality. Santa Barbara, CA, USA: IEEE, 2006. 109-118
[32]	Oskiper T, Chiu H P, Zhu Z W, Samarasekera S, Kumar R. Stable vision-aided navigation for large-area augmented reality. In: Proceedings of the 2001 IEEE Virtual Reality Conference. Singapore: IEEE, 2011. 63-70
[33]	Fuchs E M. Inertial Head-tracking[Master dissertation], MIT, Cambridge, USA, 1993
[34]	Welch G F. Hybrid Self-tracker: An Inertial/Optical Hybrid Three-dimensional Tracking System, Technical Report, University of North Carolina at Chapel Hill, 1995
[35]	Foxlin E, Harrington M, Pfeifer G. Constellation: a wide-range wireless motion-tracking system for augmented reality and virtual set applications. In: Proceedings of the 25th Annual Conference on Computer Graphics and Interactive Techniques. Orlando, FL, USA: ACM Press, 1998. 371-378
[36]	Foxlin E M, Harrington M, Altshuler Y. Miniature 6-DOF inertial system for tracking HMDs. In: Proceedings of the 1998 SPIE Helmet and Head-Mounted Displays III. Orlando, FL, USA: SPIE, 1998. 214-228
[37]	Foxlin E. Inertial head-tracker sensor fusion by a complementary separate-bias Kalman filter. In: Proceedings of the 1996 IEEE Virtual Reality Annual International Symposium. Santa Clara, California, USA: IEEE, 1996. 185-194, 267
[38]	Parnian N, Golnaraghi F. Integration of a multi-camera vision system and strapdown inertial navigation system (SDINS) with a modified Kalman filter. Sensors, 2010, 10(6): 5378-25394
[39]	Diverdi S, Hollerer T. Heads up and camera down: A vision-based tracking modality for mobile mixed reality. IEEE Transactions on Visualization and Computer Graphics, 2008, 14(3): 500-512
[40]	Schn T B, Gustafsson F. Integrated navigation of cameras for augmented reality. In: Proceedings of the 16th IFAC World Congress. Prague, Czech Republic: IEEE, 2005. 1-6
[41]	Hol J D, Schn T B, Luinge H, Slycke P J, Gustafsson F. Robust real-time tracking by fusing measurements from inertial and vision sensors. Journal of Real-Time Image Processing, 2008, 2: 149-160
[42]	Yokokohji Y, Sugawara Y, Yoshikawa T. Accurate image overlay on video see-through HMDs using vision and accelerometers. In: Proceedings of the 2000 IEEE Virtual Reality. New Brunswick, New Jersey, USA: IEEE, 2000. 247- 254
[43]	Azuma R, Bishop G. Improving static and dynamic registration in an optical see-through HMD. In: Proceedings of the 21st International Conference on Computer Graphics and Interactive Techniques. Orlando: ACM Press, 1994. 197- 204
[44]	Saha R K. Effect of common process noise on two-sensor track fusion. Journal of Guidance, Control, and Dynamics, 1996, 19(4): 829-835
[45]	Chang K C, Saha R K, Bar-Shalom Y. On optimal track-to-track fusion. IEEE Transactions on Aerospace and Electronic Systems, 1997, 33(4): 1271-1276
[46]	Luo B, Wang Y T, Liu Y. Sensor fusion based head pose tracking for lightweight flight cockpit systems. Multimedia Tools and Applications, 2011, 52(1): 235-255
[47]	Hoff W A. Fusion of data from head-mounted and fixed sensors. In: Proceedings of the 1st International Workshop on Augmented Reality. San Francisco, CA, USA: IEEE, 1998. 167-182
[48]	Newman J, Ingram D, Hopper A. Augmented reality in a wide area sentient environment. In: Proceedings of the 2001 IEEE and ACM International Symposium on Augmented Reality. New York, NY, USA: IEEE, 2001. 77-86
[49]	Kalkusch M, Lidy T, Knapp N, Reitmayr G, Kaufmann H, Schmalstieg D. Structured visual markers for indoor pathfinding. In: Proceedings of the 1st IEEE International Workshop on Augmented Reality Toolkit. Darmstadt, Germany: IEEE, 2002. 8-15
[50]	Zendjebil I M, Ababsa F, Didier J Y, Mallem M. Hybrid localization system for mobile outdoor augmented reality applications. In: Proceedings of the 1st Workshops on Image Processing Theory, Tools and Applications. Sousse, Tunisia, France: IEEE, 2008. 1-6
[51]	Kanbara M, Fujii H, Takemura H, Yokoya N. A stereo vision-based augmented reality system with an inertial sensor. In: Proceedings of the 2000 IEEE and ACM International Symposium on Augmented Reality. Munich, Germany: IEEE, 2000. 97-100
[52]	Bajura M, Neumann U. Dynamic registration correction in video-based augmented reality systems. IEEE Computer Graphics and Applications, 1995, 15(5): 52-60
[53]	Satoh K, Uchiyama S, Yamamoto H, Tamura H. Robust vision-based registration utilizing bird's-eye view with user's view. In: Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality. Tokyo, Japan: IEEE, 2003. 46-55
[54]	Satoh K, Uchiyama S, Yamamoto H. A head tracking method using bird's-eye view camera and gyroscope. In: Proceedings of the 3rd IEEE and ACM International Symposium on Mixed and Augmented Reality. Arlington, VA, USA: IEEE, 2004. 202-211
[55]	Grimm M, Grigat R R. Real-time hybrid pose estimation from vision and inertial data. In: Proceedings of the 1st Canadian Conference on Computer and Robot Vision. Canada: IEEE, 2004. 480-486
[56]	State A, Hirota G, Chen D T, Garrett W F, Livingston M A. Superior augmented reality registration by integrating landmark tracking and magnetic tracking. In: Proceedings of the 23rd Annual Conference on Computer Graphics and Interactive Techniques. New Orleans, LA, USA: ACM Press, 1996. 429-438
[57]	Auer T, Pinz A. Building a hybrid tracking system: integration of optical and magnetic tracking. In: Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality. San Francisco, CA, USA: IEEE, 1999. 13-22
[58]	Fischer J, Eichler M, Bartz D, Straper W. Model-based hybrid tracking for medical augmented reality. In: Proceedings of the 12th Eurographics Conference on Virtual Environments. Lisbon, Portugal: IEEE, 2006. 71-80
[59]	Aron M, Simon G, Berger M O. Handling uncertain sensor data in vision-based camera tracking. In: Proceedings of the 3rd IEEE and ACM International Symposium on Mixed and Augmented Reality. Arlington, USA: IEEE, 2004. 58-67
[60]	Aron M, Simon G, Berger M O. Use of inertial sensors to support video tracking. Computer Animation and Virtual Worlds, 2007, 18(1): 57-68
[61]	Satoh K, Anabuki M, Yamamoto H, Tamura H. A hybrid registration method for outdoor augmented reality. In: Proceedings of the 2001 IEEE and ACM International Symposium on Augmented Reality. New York, NY, USA: IEEE, 2001. 67-76
[62]	You S, Neumann U, Azuma R. Orientation tracking for outdoor augmented reality registration. IEEE Computer Graphics and Applications, 1999, 19(6): 36-42
[63]	Klein G S W, Drummond T W. Tightly integrated sensor fusion for robust visual tracking. Image and Vision Computing, 2004, 22(10): 769-776
[64]	Klein G, Drummond T. Robust visual tracking for non-instrumental augmented reality. In: Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality. Tokyo, Japan: IEEE, 2003. 113-122
[65]	Zhang Z Y. A flexible new technique for camera calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2000, 22(11): 1330-1334
[66]	Tsai R. A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses. IEEE Journal of Robotics and Automation, 1987, 3(4): 323-344
[67]	Foxlin E, Naimark L. Miniaturization, calibration accuracy evaluation of a hybrid self-tracker. In: Proceedings of the 2nd IEEE and ACM International Symposium on Mixed and Augmented Reality. Tokyo, Japan: IEEE, 2003. 151- 160
[68]	Kim A, Golnaraghi M F. Initial calibration of an inertial measurement unit using an optical position tracking system. In: Proceedings of the 2004 Position Location and Navigation Symposium. Monterey, California, USA: IEEE, 2004. 96-101
[69]	Alves J, Lobo J, Dias J. Camera-inertial sensor modeling and alignment for visual navigation. Machine Intelligence and Robotic Control, 2003, 5(3): 103-111
[70]	Bin L, Wang Y T, Liu Y. Sensor fusion for vision-based indoor head pose tracking. In: Proceedings of the 5th International Conference on Image and Graphics. Xi'an, China: IEEE, 2009. 677-682
[71]	Horn B K P. Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America A, 1987, 4(4): 629-642
[72]	Park F C, Martin B J. Robot sensor calibration: solving AX = XB on the Euclidean group. IEEE Transactions on Robotics and Automation, 1994, 10(5): 717-721
[73]	Baillot Y, Julier S J, Brown D, Livingston M A. A tracker alignment framework for augmented reality. In: Proceedings of the 2nd IEEE and ACM International Symposium on Mixed and Augmented Reality. Tokyo, Japan: IEEE, 2003. 142-150
[74]	Lobo J, Dias J. Relative pose calibration between visual and inertial sensors. The International Journal of Robotics Research, 2007, 26(6): 561-575
[75]	Randeniya D I B, Gunaratne M, Sarkar S, Nazef A. Calibration of inertial and vision systems as a prelude to multi-sensor fusion. Transportation Research Part C: Emerging Technologies, 2008, 16: 255-274
[76]	Hol J D, Schon T B, Gustafsson F. Modeling and calibration of inertial and vision sensors. The International Journal of Robotics Research, 2010, 29(2-3): 231-244
[77]	Hol J D, Schon T B, Gustafsson F. A new algorithm for calibrating a combined camera and IMU sensor unit. In: Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision. Hanoi, Vietnam: IEEE, 2008. 1857-1862
[78]	Mirzaei F M, Roumeliotis S I. A Kalman filter-based algorithm for IMU-camera calibration: observability analysis and performance evaluation. IEEE Transactions on Robotics, 2008, 24(5): 1143-1156
[79]	Kelly J, Sukhatme G S. Self-calibration of inertial and omnidirectional visual sensors for navigation and mapping. In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation. Anshorage, Alaska, USA: IEEE, 2010. 1-6
[80]	Huber M, Schlegel M, Klinker G. Temporal calibration in multisensor tracking setups. In: Proceedings of the 8th IEEE International Symposium on Mixed and Augmented Reality. Orlando, Florida, USA: IEEE, 2009. 195-196
[81]	Liang J D, Shaw C, Green M. On temporal-spatial realism in the virtual reality environment. In: Proceedings of the 4th annual ACM symposium on User Interface Software and Technology. New York, NY, USA: ACM Press, 1991. 19-25
[82]	Kantonen T. Sensor synchronization for AR applications. In: Proceedings of the 9th IEEE International Symposium on Mixed and Augmented Reality. Seoul, Korea: IEEE, 2010. 245-246
[83]	Yamazoe H, Utsumi A, Tetsutani N, Yachida M. Vision-based human motion tracking using head-mounted cameras and fixed cameras. Electronics and Communications in Japan (Part II: Electronics), 2007, 90(2): 40-53
[84]	Young M C, Young S S, Sang K. Pose estimation from landmark-based vision and inertial sensors. In: Proceedings of the 2006 International Joint Conference on SICE-ICASE. Bexco, Busan, Korea: IEEE, 2006, 1668-1671
[85]	Foxlin E, Altshuler Y, Naimark L, Harrington M. FlightTracker: a novel optical/inertial tracker for cockpit enhanced vision. In: Proceedings of the 3rd IEEE and ACM International Symposium on Mixed and Augmented Reality. Arlington, USA: IEEE, 2004, 212-221
[86]	Foxlin E, Naimark L. VIS-Tracker: a wearable vision-inertial self-tracker. In: Proceedings of the 2003 IEEE Virtual Reality Conference. Los Angeles, CA: IEEE, 2003. 199-206
[87]	Parnian N, Golnaraghi M F. Integration of vision and inertial sensors for industrial tools tracking. Sensor Review, 2007, 27(2): 132-141
[88]	Hogue A, Jenkin M R, Allison R S. An optical-inertial tracking system for fully-enclosed VR displays. In: Proceedings of the 1st Canadian Conference on Computer and Robot Vision. Canada: IEEE, 2004. 22-29
[89]	Ribo M, Lang P, Ganster H, Brandner M, Stock C, Pinz A. Hybrid tracking for outdoor augmented reality applications. IEEE Computer Graphics and Applications, 2002, 22(6): 54 -63
[90]	Ababsa F, Mallem M. Hybrid three-dimensional camera pose estimation using particle filter sensor fusion. Advanced Robotics, 2007, 21(1-2): 165-181
[91]	Rehbinder H, Ghosh B K. Multi-rate fusion of visual and inertial data. In: Proceedings of the 2001 International Conference on Multisensor Fusion and Integration for Intelligent Systems. Kongresshaus Baden-Baden, Germany: IEEE, 2001. 97-102
[92]	Rehbinder H, Ghosh B K. Pose estimation using line-based dynamic vision and inertial sensors. IEEE Transactions on Automatic Control, 2003, 48(2): 186-199
[93]	Wu Y X, Hu D W, Wu M P, Wu X P, Wu T. Observability analysis of rotation estimation by fusing inertial and line-based visual information: a revisit. Automatica, 2006, 42(10): 1809-1812
[94]	Jiang B, Neumann U, Suya Y. A robust hybrid tracking system for outdoor augmented reality. In: Proceedings of the 2004 IEEE Virtual Reality. Chicago, IL, USA: IEEE, 2004. 3-275
[95]	Suya Y, Neumann U, Azuma R. Hybrid inertial and vision tracking for augmented reality registration. In: Proceedings of the 1999 IEEE Virtual Reality. Houston, Texas, USA: IEEE, 1999. 260-267
[96]	You S, Neumann U. Fusion of vision and gyro tracking for robust augmented reality registration. In: Proceedings of the 2001 IEEE Virtual Reality. Yokohama, Japan: IEEE, 2001. 71-78
[97]	Bleser G, Wohlleber C, Becker M, Stricker D. Fast and stable tracking for AR fusing video and inertial sensor data. In: Proceedings of the 2006 International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision. Plzen, Czech Republic: IEEE, 2006. 109-115
[98]	Hol J D, Schon T B, Gustafsson F, Slycke P. Sensor fusion for augmented reality. In: Proceedings of the 9th International Conference on Information Fusion. Florence, Italy: IEEE, 2006. 1-6
[99]	Chandaria J, Thomas G A, Stricker D. The MATRIS project: real-time markerless camera tracking for augmented reality and broadcast applications. Journal of Real-Time Image Processing, 2007, 2(2): 69-79
[100]	Bleser G, Stricker D. Advanced tracking through efficient image processing and visual-inertial sensor fusion. In: Proceedings of the 2008 IEEE Virtual Reality Conference. Reno, Nevada, USA: IEEE, 2008. 137-144
[101]	Bleser G, Hendeby G. Using optical flow as lightweight SLAM alternative. In: Proceedings of the 8th IEEE International Symposium on Mixed and Augmented Reality. Orlando, Florida, USA: IEEE, 2009. 175-176
[102]	Waechter C, Huber M, Keitler P, Schlegel M, Pustka D, Klinker G. A multi-sensor platform for wide-area tracking. In: Proceedings of the 9th IEEE International Symposium on Mixed and Augmented Reality. Seoul, Korea: IEEE, 2010. 275-276
[103]	Hollerer T, Feiner S, Pavlik J. Situated documentaries: embedding multimedia presentations in the real world. In: Proceedings of the 3rd International Symposium on Wearable Computers. San Francisco, California, USA: IEEE, 1999. 79-86
[104]	Azuma R, Weon Lee J, Jiang B, Park J, You S, Neumann U. Tracking in unprepared environments for augmented reality systems. Computers and Graphics, 1999, 23(6): 787-793
[105]	Azuma R, Hoff B, Neely H III, Sarfaty R. A motion-stabilized outdoor augmented reality system. In: Proceedings of the 1999 IEEE Virtual Reality. Houston, Texas, USA: IEEE, 1999. 252-259
[106]	Lobo J, Lucas P, Dias J, de Almeida A T. Inertial navigation system for mobile land vehicles. In: Proceedings of the 1995 IEEE International Symposium on Industrial Electronics. Athens, Greece: IEEE, 1995. 843-848
[107]	Hagure T, Marchant J A, Tillett N D. Ground based sensing systems for autonomous agricultural vehicles. Computers and Electronics in Agriculture, 2000, 25(1): 11-28
[108]	Hu Z, Uchimura K. Fusion of vision, GPS and 3D gyro data in solving camera registration problem for direct visual navigation. International Journal of ITS Research, 2006, 4(1): 3-12
[109]	Karlekar J, Zhou S Z, Nakayama Y, Lu W Q, Loh Z C, Hii D. Model-based localization and drift-free user tracking for outdoor augmented reality. In: Proceedings of the 2010 IEEE International Conference on Multimedia and Expo. Singapore: IEEE, 2010. 1178-1183
[110]	Park J. 3DOF tracking accuracy improvement for outdoor augmented reality. In: Proceedings of the 9th IEEE International Symposium on Mixed and Augmented Reality. Seoul, Korea: IEEE, 2010. 263-264
[111]	Milic L, Saramaki T, Bregovic R. Multirate filters: an overview. In: Proceedings of the 2006 IEEE Asia Pacific Conference on Circuits and Systems. Singapore: IEEE, 2006. 912-9150
[112]	Armesto L, Tornero J, Vincze M. Fast ego-motion estimation with multi-rate fusion of inertial and vision. International Journal of Robotics Research, 2007, 26(6): 577-589
[113]	Newman J, Wagner M, Bauer M, MacWilliams A, Pintaric T, Beyer D, Pustka D, Strasser F, Schmalstieg D, Klinker G. Ubiquitous tracking for augmented reality. In: Proceedings of the 3rd IEEE and ACM International Symposium on Mixed and Augmented Reality. Arlington, USA: IEEE, 2004. 192-201
[114]	Piekarski W, Thomas B. ARQuake: the outdoor augmented reality gaming system. Communications of the ACM, 2002, 45(1): 36-38
[115]	Hllerer T, Feiner S, Terauchi T, Rashid G, Hallaway D. Exploring MARS: developing indoor and outdoor user interfaces to a mobile augmented reality system. Computers and Graphics, 1999, 23(6): 779-785
[116]	Julier S, Baillot Y, Lanzagorta M, Brown D, Rosenblum L. BARS: Battlefield augmented reality system. In: Proceedings of the 2000 NATO Symposium on Information Processing Techniques for Military Systems. Istanbul, Turkey: IEEE, 2000. 9-11
[117]	Ishii H, Bian Z, Fujino H, Sekiyama T, Nakai T, Okamoto A, Shimoda H, Izumi M, Kanehira Y, Morishita Y. Augmented reality applications for nuclear power plant maintenance work. In: Proceedings of the 2007 International Symposium on Symbiotic Nuclear Power Systems for 21st Century. Tsuruga, Jaoan, Japan, 2007. 262-268
[118]	Reinhart W, Fursch A. A camera-based support system with augmented reality functions for manual tasks in radioactive production environments. Production Engineering, 2008, 2(2): 139-147
[119]	Jones E S, Soatto S. Visual-inertial navigation, mapping and localization: a scalable real-time causal approach. The International Journal of Robotics Research, 2011, 30(4): 407-430
[120]	Escolano C, Antelis J, Minguez J. Human brain-teleopera-ted robot between remote places. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation. Kobe, Japan: IEEE, 2009. 4430-4437
[121]	Mistry P, Maes P. SixthSense: a wearable gestural interface. In: Proceedings of the 2009 SIGGRAPH Asia'09. Ketch, Yokohama, Japan: ACM, 2009. 85-92