Prof. Dr. Didier Stricker

Dr. Alain Pagani

Nicole Stephanie Buhlinger

Keonna Cunningham

Dr. Oliver Wasenmüller

Dr. Gabriele Bleser

Dr. Bertram Taetz

Rashed Al Koutayni

Jilliam Maria Diaz Barros

Mahdi Chamseddine

Steve Dias da Cruz

Christiano Couto Gava

Tewodros Amberbir Habtegebrial

Jigyasa Katrolia

Andreas Kölsch

Onorina Kovalenko

Muhammad Jameel Nawaz Malik

Nareg Minaskan Karabid

Manthan Pancholi

Jason Raphael Rambach

María Alejandra Sánchez Marín

Kripasindhu Sarkar

Alexander Schäfer

André Luiz Brandão

Ahmet Firintepe

Vladislav Golyanik

Fusion of unsynchronized optical tracker and inertial sensor in EKF framework for in-car Augmented Reality delay reduction

Fusion of unsynchronized optical tracker and inertial sensor in EKF framework for in-car Augmented Reality delay reduction
Jason Raphael Rambach, Alain Pagani, Sebastian Lampe, Ruben Reiser, Manthan Pancholi, Didier Stricker
IEEE Adjunct Proceeding of IEEE International Symposium on Mixed and Augmented Reality (ISMAR-17), October 9-13, Nantes, France

Abstract:: In this paper we present a novel sensor fusion framework between unsychronized optical tracking systems and inertial measurement units based on an Extended Kalman Filter (EKF). The main benefit from the fusion is taking advantage of the faster speed of measurement availability of the inertial sensor in order to decrease the delay of the system while maintaining the accuracy of the optical tracking system. The tracking framework is applicable in a car cockpit Augmented Reality system displaying augmentations using the tracked 6 Degree of Freedom pose of a head mounted display.

Keywords:: augmented reality, tracking, sensor fusion

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