Spatial Relationship Patterns: Elements of Reusable Tracking and Calibration Systems

With tracking setups becoming increasingly complex, it gets more difficult to find suitable algorithms for tracking, calibration and sensor fusion. A large number of solutions exists in the literature for various combinations of sensors, however, no development methodology is available for systematic analysis of tracking setups. When modeling a system as a spatial relationship graph (SRG), which describes coordinate systems and known transformations, all algorithms used for tracking and calibration correspond to certain patterns in the graph. This paper introduces a formal model for representing such spatial relationship patterns and presents a small catalog of patterns frequently used in augmented reality systems. We also describe an algorithm to identify patterns in SRGs at run-time for automatic construction of data flows networks for tracking and calibration.     «

With tracking setups becoming increasingly complex, it gets more difficult to find suitable algorithms for tracking, calibration and sensor fusion. A large number of solutions exists in the literature for various combinations of sensors, however, no development methodology is available for systematic analysis of tracking setups. When modeling a system as a spatial relationship graph (SRG), which describes coordinate systems and known transformations, all algorithms used for tracking and calib...     »