TY - JOUR
T1 - Towards kilo-hertz 6-DoF visual tracking using an egocentric cluster of rolling shutter cameras
AU - Bapat, Akash
AU - Dunn, Enrique
AU - Frahm, Jan Michael
N1 - Publisher Copyright:
© 1995-2012 IEEE.
PY - 2016/11
Y1 - 2016/11
N2 - To maintain a reliable registration of the virtual world with the real world, augmented reality (AR) applications require highly accurate, low-latency tracking of the device. In this paper, we propose a novel method for performing this fast 6-DOF head pose tracking using a cluster of rolling shutter cameras. The key idea is that a rolling shutter camera works by capturing the rows of an image in rapid succession, essentially acting as a high-frequency 1D image sensor. By integrating multiple rolling shutter cameras on the AR device, our tracker is able to perform 6-DOF markerless tracking in a static indoor environment with minimal latency. Compared to state-of-the-art tracking systems, this tracking approach performs at significantly higher frequency, and it works in generalized environments. To demonstrate the feasibility of our system, we present thorough evaluations on synthetically generated data with tracking frequencies reaching 56.7 kHz. We further validate the method's accuracy on real-world images collected from a prototype of our tracking system against ground truth data using standard commodity GoPro cameras capturing at 120 Hz frame rate.
AB - To maintain a reliable registration of the virtual world with the real world, augmented reality (AR) applications require highly accurate, low-latency tracking of the device. In this paper, we propose a novel method for performing this fast 6-DOF head pose tracking using a cluster of rolling shutter cameras. The key idea is that a rolling shutter camera works by capturing the rows of an image in rapid succession, essentially acting as a high-frequency 1D image sensor. By integrating multiple rolling shutter cameras on the AR device, our tracker is able to perform 6-DOF markerless tracking in a static indoor environment with minimal latency. Compared to state-of-the-art tracking systems, this tracking approach performs at significantly higher frequency, and it works in generalized environments. To demonstrate the feasibility of our system, we present thorough evaluations on synthetically generated data with tracking frequencies reaching 56.7 kHz. We further validate the method's accuracy on real-world images collected from a prototype of our tracking system against ground truth data using standard commodity GoPro cameras capturing at 120 Hz frame rate.
KW - High frequency
KW - Rolling shutter
KW - Visual inside-out tracking
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U2 - 10.1109/TVCG.2016.2593757
DO - 10.1109/TVCG.2016.2593757
M3 - Article
AN - SCOPUS:84989846762
SN - 1077-2626
VL - 22
SP - 2358
EP - 2367
JO - IEEE Transactions on Visualization and Computer Graphics
JF - IEEE Transactions on Visualization and Computer Graphics
IS - 11
M1 - 7523411
ER -