8  @@@ @@@@0=.DyL EN DB g 0  & 7 ^ . G= V   / n   m 1 ]  z   v U  A  )M F P.=M Durrant-Whyte1995 Z Lee1999JnXOfBT GB n B`d?.N3~&H S:$STxvTO`pr22؁pügRCEmJCm?.N3N G p8TO` GBBT n LN^Nu PointRecData__FlPPP7RecPagePlPUsNVH0>.8.?. N3~$HHnHn/ NzvO`p Rr20ځRCDm?. N3N,&R Kp0HP .A"_ . KƑp0C np0. R=P6.TO`(0HSrN Rp"R#h3hSCDnp R1p R! RRP?. N/TOL N^NuAddToPage__FlsUsPcsNVH8x?.N3~$H?.N8HnHn/ N?.N3N-@ R: .(@ n JPOf8v`" Ќ‸lp Rr20؁RC0HS2Hm<` n <v`p Rr20؁RCFm -@0H2HpNѮ?.N=@?.N3N-@<?.?.N .-@?.N3~&H R-H S-H n"n ..~6O `6?.p R/0N p Rp"S#h3hRCRG\OEm0H2H S0 R0?.N/?.N/?.N8n n 00.\OLN^NuSplitRecPage__FsPsNVH *.HnHnHn/NJnOgHnHn/.N n$P;~  Lee2000  Lee2000 Leonard1999 Leonhardi1999 Leonhardi1999 Leonhardi1999 Leonhardi1999 Leonhardi1999 Lesh19999Y Lewis1986I Li1993l Liang1992Lindgren1978i Link1993 List1983 Livingston1996 Livingston1997 Livingston1997 Loffeld1994 Loffelmann1997 Lucas1985 MAC2000 Macellari1983 MacIntyre1997 MacIntyre1997L Mackinlay1991 Madhavan1998( Magee1990 Mahmoud1994 Majoros1998 Mann1983L Mann1989  Mark1997%Matthies1987m Mavor1994] Maybeck1979 Mazuryk1995 McAllister  McAllister1994 McClary1984 McFarland1986 McFarland1988 McGhee1996 McGhee19999McKinnon19868McKinnon19878 McMillan1997( McVey1981 Meditch1969o Menges1997 Meyer1991 Meyer1992` Milner19788 Mine1993 Mizell1994 Molineros1997  Molineros1998q Mueller1997 Mulder1994U Mulder1994  Mulder1998Munekata19944 Nagao1995 Nardone1981 Nash19969 Nash1997 Nayar1994" NDI2001" Nebot1988! Nebot1999' Nebot1999 Nebot1999 Nebot2000 Neely1998 Neely1999* Neilson1972 Netravali1983 Netravali1994 Nettleton2000 Neuman2000 Neuman2000U Neumann1995 Neumann1996 Neumann1998 Neumann1998 Neumann1998 Neumann1998 Neumann19997 Neumann19998 Neumann1999 Neumann1999 Neumann1999T Neumann2001 Newman1999 Newman20000 Nguyen1996 Nichols1998 Noguchi19941Oceanographers2001 Ohshima1998 Ottenheimer1983 Palmer Palmer19944 Palovuori1998 Park19989 Park19999$ Pasman1999Patel Patel1994 Peleg1997uPentland1992(Pentland19922PPentland19941iPentland19941Pentland19951OPentland19951QPentland19961Pentland1997( Perona19955 Perona1996Petridis1981e Pfeifer1998%Phillips2000 Picci1996&Polhemus2000 Price1968 Raab1979a Rae-Dupree1997s Raghavan19988 Rashid19999 Rauch1963 Rauch1965 Rehg1993 Rehg1994Rekimoto1995(Rekimoto1997e Reunert1993Richards1998(Richards1999 Richardst1997 Riner1992 Roberts1966& Roberts1987L Robertson19915Robinett1994 Roca20000Rosee Rose1985 Rose19979 Rose19979 Rose19979 Rosenblatt1999 Rothermel1999 Rothermel1999 Rothermel1999 Rothermel1999 Rousso1997 Rowell19838 Salesin2000 Salz1983 Sarfaty1998 Satoh1998 Sawhney1994 Sawhney1994 Sawhney1995 Sayed2000 Schalkoff1982"Scheding1988'Scheding1999 Schmalstieg1997 Schodl1998 Schut1960 Schwehm1999 Schwehm1999 Schwehm1999 Schwehm1999 Sebesta1992F Selspot1987% Shafer19878 Shannon1948 Sharma1997 Sharma19989 Shaw1992'Shoemake1985+ Siva19909 Smith1984 Smith1999 So1992 So1992 Soatto1996 Sobek1985Sorensen1989oeSorenson1970 Sowizral1993Sowizral1994aSowrizal1994(q Spiegel1997 SPIRIT2000g Spohrer1999( Spohrer1999 Spohrer1999u Starner1992 Starner1992 Starner1997 Starr1989 State1996 State1997 State1997 Steiner1979 Stine2000 Stovall Stovall1994 Strickland  Strickland1994Striebel1965a8Stuetzle2000) Sutherland1968 Sutherland1974 Sutherland1974 Svoboda1986 Svoboda1987N Tachi1994 Tachi1994 Tachi1994 Tamura19989 Tarabanis1995Terauchi1999Tetewsky19833Thompson1959h* Thrun1998 Thrun19993 Trucco1998 Tsai19955 TuceryanTuceryan19977Tuceryan1997(Tuceryan1997H Tung19655 Uhlmann1995 Uhlmann1996+UNC Tracker Project2000 Ursella1995 Vallino1998 Van Brussel19962 van Dam1997$van der Schaaf1999 Van Pabst1993 Vanhala1998 Vankatesh2000 Varona2000 Verplaetse1996s, Verplaetse19973 Verri19983 Vicci19994 Vicci20016 Vicci2001Vieville1993( Villanueva2000. VRPN2001$Wallmark1957 Walsh1992Wang - Wang1990 Wang1990 Wang1990 Ward19911 Ward1992 Ware1994Warnekar1982aWatanabe1994aWatanabe1994a Weaver1997 Weber1997 Webster1997 Wefald1984 Weill2001o Welch1995q Welch1995/ Welch19960 Welch1997 Welch19983 Welch19992 Welch20014 Welch2001 West2000 WhitakerWhitaker19977Whitaker1997(Whitaker1997H White1976Wienclaw19966 Wildes1991 Will19961Williams2000(- Wloka19956Woltring1974Woltring1976o8 Wood2000Yamamoto1998( Yang19898 You1998 You1998 You19997 You19998 You1999 You1999 You1999 You2000 Youngblut1996 Yun1992 Zikan1994 Zikan1994YZyda Zyda1996 Zyda199996 Zyda19999 Zyda199996 Zyda19999 Zyda199996 Zyda199996 Zyda199996 Zyda199996 Zyda19999996 Zyda199996 Zyda19999996 Zyda19999996 Zyda19999 Zyda19999996 Zyda19999 Zyda19999996 Zyda19999 Zyda19999 Zyda199996 Zyda19999 Zyda19999 Zyda199996 Zyda19999 Zyda19999996 Zyda19999996 Zyda19999 Zyda19999996 Zyda199996 Zyda19999996 Zyda199996 Zyda199996 Zyda19999 Zyda199991996 Zyda199996 Zyda19999 Zyda199996 Zyda199996 Zyda199991996 Zyda199991996 Zyda19999996 Zyda199996 Zyda199996 Zyda19999 Zyda19999996 Zyda19999 Zyda199991996 Zyda19999 Zyda19999996 Zyda199991996 Zyda19999 Zyda19999 Zyda199996 Zyda19999 Zyda199996 Zyda19999 Zyda199996 Zyda19999 Zyda19999o Welch1995q Welch1995 Welch1995p Welch1996r Welch1997E Welch1998c Welch1998d Welch1998 Welch1998 Welch1998b Welch1999s Welch1999 Welch1999 Welch1999 Welch1999 Welch1999J Welch2000t Welch2000 Welch2000 Welch2000 Welch2000 Welch2000 Welch2000 Welch2001 Welch2001 Welch2001j Whitton1999Williams2000(Woltring1974 Xu1999b Yang19999 Yang2001E You1998G You1999v You1999w You1999x Young1981x Zacharias1981Zavracky19989 Zheng1999 Zheng2000 Zyda1996 Zyda19999(! -!$/*#.1&2 )'  "3%,7+@,XO`,<N >g*N(/ N/ N0H/N0O T:( UO??< T r /N0?NH Tp0(r -@ ."&HHPNPUO?Hn/N0?NH .rN80D 刡"$H/ NPvO `0C  RBRCDm R R!K T!J T!K/ N,NN(XOLN^NuLoadPageMap__FPP8DBHeaderNV/ /N9J.g, m Pp0(r Nb-@N?HoN

0?NHBm$ Authors5- Journals?KeywordsN Institutions    -$**#.1& )" #"1##1& 6u 3rdTech($A.K. Jain, S. Venkatesh, B.C. LovellAdelstein, B. D. Agar, W. O.uAhlers, Klaus H.Aidala, Vincent J.MAkatsuka, Yuchiro Akeley, Kurtal., A. Leonardis et Aldinger, Ken Allen, P.K.5 Altshuler, Y.Analysis, MotionAndrews, Angus P.Andrews, Angus, P. Antonsson, E.Antonsson, E. K.Applewhite, H.ƈApplewhite, HughApplewhite, Hugh L._(Aquilino, P. D.Ardaman, Andrew A.M Arthur, Kevin Arvo, James AscensionAscension Technology Atkeson, C.G. Ator, J. T.u Ayer, SergeuAzarbayejani, A.Azarbayejani, AliAzuma, Daniel I.Azuma, Ronald T.B & L EngineeringBachmann, E. R.hBachmann, Eric, Robertw Badrinath, B. Bailey, T Bailey, T.(Bajcsy, Ruzenaȍ$Bajura, MichaelMBalakirsky, StephenMBalakrishnan, RavinMBancroft, Stephen Banner, MikeBar-Shalom, Yaakovfڨ Barnes, D. Baron, S. Bastos, Ruij Baumeler, S. Beckman, KenBehringer, ReinholdBekey, George A.Bell, Bradley M.Bellman, RichardBennett, RobertBest, Roland E._(Bhatnagar, Devesh KumarpBible, Steven R. Biocca, F.5 Biocca, FrankBiocca, Frank A.( Bishop, G.5 Bishop, GaryBL Blood, E. B. Blythe, J. H.Bolles, Robert C.Bordtad, Arnstein J.Borghese, N. A.M Bose, Samn C.Bouget, Jean-Yves Breen, DavidBreen, David E.MBritannica, EncyclopediaBroida, Ted J.MBrooks, Frederick P., Jr.Browder, BlairMBrown, MichaelBrown, R. GroverBrown, Robert Grover Brugger, W.uBrumback, StephenBruss, Anna R.M Brutzman, Don Bryson, Steve Bui, Hung H.Burdea, Grigore  Burgard, W.5Burgard, Wolfram Burton, R. P.Buxton, William Caglayan, A.Cain, Ronald A.M Cannon, JimjCard, Stuart K.Cardelli, LucaCathey, Frederick W.Catmull, Edwin E.Caudellt, Thomas, P.Cavallaro, RickMChellappa, RamaMChen, David T.M Chen, HanChen, Wei-Chao Chen, Yuqun5Chevalier, Pierre-Yves Chi, VernonjChi, Vernon L.Cho, YoungkwanM Chorley, R.A.Chou, Jack C. K.Clark, Douglas W. Clergue, E.uCockayne, WilliamCohen, Michael F.Coiffet, Philippe  ?,)ACM Operating Systems Review (SIGOPS-OSR),)ACM SIGOPS-OSR (Operating Systems Review) AIAA JournalApplied OpticsDAutonomous Robots Journal BiotelemetryX$!British Telecom Technical JournalCommunications of the ACMComputers & GraphicsControl and Computers CVGIP: Image Understanding[3 Experimental Brain ResearchHuman Movement Sciences85Human-Computer Interaction Human-Computer InteractionIBM Systems Journal^x,(IBM Systems Journal, Pervasive ComputingIEEEPKIEEE Computer Graphics & Applications IEEE Computer Graphics & Applications,'IEEE Journal of Robotics and Automation IEEE Trans. Automat. Contr.385IEEE Trans. Pattern Analysis and Machine IntelligenceLGIEEE Trans. Robotics and Automation IEEE Trans. Robotics and Automation- 85IEEE Transactions on Aerospace and Electronic Systems,(IEEE Transactions on Audio ElectroacoustH("IEEE Transactions on Auto. Control,&IEEE Transactions on Automatic Controlk`0+IEEE Transactions on Biomedical EngineeringW,)IEEE Transactions on Circuits and Systems84IEEE Transactions on Instrumentation and Measurement$IEEE Transactions on MultimediaD>IEEE Transactions on Pattern Analysis and Machine Intelligence0*IEEE Transactions on Robotics & Automationf0,IEEE Transactions on Robotics and Automation<8IEEE Transactions on Visualization and Computer Graphics0*International Journal of Robotics ResearchHWJournal of Aircraft Journal of Computer Vision884Journal of Dynamic Systems, Measurement, and Control85Journal of Motor Behaviour Journal of Motor BehaviourJournal of Neuroscience$LFJournal of Scientific Instruments (Journal of Physics E) 1968 Series 2(%Journal of the ACM Journal of the ACM(%Journal of the Astronautical Sciences,)Journal of the Optical Society of AmericaMachine Learning0,Medical & Biological Engineering & Computing("Medical and Biological Engineering)Pattern RecognitionPersonal EngineeringPersonal TechnologiesPhotogrammetriaPresence Presence\WPresence, a publication of the Center for Research in Journalism and Mass CommunicationWP40Presence: Teleoperators and Virtual Environments@PJPresence: Teleoperators and Virtual Environments (January, ed. Mel Slater)JProceedings IRE$Robotics and Autonomous SystemskScientific American Sensors Signal Processing (EURASIP)3@7See also reference #298 Conference in Stockholm, Sweden Jun Rekimoto Katashi Nagao 1995b[The World through the Computer: Computer Augmented Interaction with Real World EnvironmentsrHB1995 Symposium on User Interface Software and Technology (UIST 95) Pittsburgh, PA ("Association of Computing MachineryNovember 14-17tracking Rekimoto, Jun 1997@9NaviCam: a magnifying glass approach to augmented realityl60Presence: Teleoperators and Virtual Environments6f4l399-412d August 1997- NaviCamTracking no paper copy.Reunert, Michael K.t 1993:3Fiber-optic gyroscopes: principles and applicationsSensors  August 37-38 August 1993Tracking(!Author Affiliation: Corning, Inc. Richards, J. 1998VOThe Measurement of Human Motion: A Comparison of Commercially Available Systemsd&3D Conference of Human Movementr 4-University of Tennessee, Chattanooga, TN USA- July 3tracking0*http://www.arielnet.com/topics/comparison/ Richards, J. 1999VOThe Measurement of Human Motion: A Comparison of Commercially Available SystemsHuman Movement Sciences18'b\http://www.udel.edu/HESC/faculty/richards.htm http://www.bmsc.udel.edu/richards/richards.htm$tracking "Riner, Bruce Browder, Blair  1992<5Design guidelines for a carrier-based training systemdIMAGE VI Conference Scottsdale, Arizona  65-73(July 14-17, 1992Tracking|vFrom top: Discusses: Predictive tracking, Image shifting just prior to scanout From Nick England's copy of ProceedingsRoberts, Lawrence G. 1966The Lincoln WandZTProceedings of the 1966 Fall Joint Computer Conference, AFIPS Conference Proceedings29223-227sTracking (!Roberts, Kenneth S. Ganapathy, S. 1987&Stereo Triangulation Techniques  Holmdel, NJ{ AT&T Bell Laboratories 1-21November 21, 1986lTechnical Memorandum11352-861121-07TM *#Robinett, Warren Holloway, Richard 1994<6The virtual display transformation for virtual realityTS94-031 Chapel Hill, NC, USA RKUniversity of North Carolina at Chapel Hill, Department of Computer ScienceTS94-03130September, 1994lTS94-031&virtual reality transformations\D=ftp://ftp.cs.unc.edu/pub/publications/techreports/94-031.ps.Z D=Rose, Eugene J. Bose, Samn C. Kouba, James T. Sobek, David A.0 1985jdA cost/performance analysis of hybrid inertial/externally referenced positioning/orientation systems Fort Belvoir, VA 2+U.S. Army Engineer Topographic Laboratories 21 ppcSeptember 1985 ETL-R-086rTracking inertial positioning systems inertial navigation systems Global Positioning systems Position Location Reporting System Cost/benefit tradeoffs computer simulation  Salz, J. Netravali, A. N.\ 1983.'Algorithms for estimation of 3-D motionr Bell Laboratories4November 10, 1983fTechnical Memorandum("TM 11345-831110-17, 1138-831110-01f`Tracking Computer vision Computer graphics Picture processing Picture coding Bandwidth reductionrlSubject: Algorithms for estimation of 3-D motion Charge case 011166-0104, 011170-0101 File case 20564, 3939460Sawhney, Harpreet S. Ayer, Serge Gorkani, Monika 1994\UModel-based 2D & 3D dominant motion estimation for mosaicing and video representation 31 ppDecember 1, 1994Pre-published paper/TrackingleA shorter version appeared in the IEEE Intl. Conf. on Computer Vision, Cambridge, MA, USA, June 1995.Sawhney, Harpreet S. 1994XQSimplifying motion and structure analysis using planar parallax and image warping{<5International Conference on Pattern Recognition, 1994\  Jerusalem- 14 pp-February 3, 1994TrackingnhFrom top: Appeared in the International Conference on Pattern Recognition, 1994. Jerusalem. pp A403-A40860Sawhney, Harpreet S. Ayer, Serge Gorkani, Monika 1995\UModel-based 2D & 3D dominant motion estimation for mosaicing and video representation9JCProceedings of the IEEE International Conference on Computer Vision  Cambridge, MA583-590TrackingSee also reference #91NHScheding, S. Dissanayake, MWMG Nebot, Eduardo, M. Durrant-Whyte, Hugh, F 1999NGAn experiment in autonomous navigation of an underground mining vehiclep0*IEEE Transactions on Robotics & Automation151 85-95pFebruarytracking This paper describes the theoretical development and experimental evaluation of a navigation system for an autonomous load, haul, and dump truck (LHD) based on the results obtained during extensive in-situ field trials.' The particular contributions of the theoretical work are in designing the navigation system to be able to cope with vehicle slip in rough uneven terrain using information from inertial sensors, odometry, and a bearing only laser. Results are presented using data obtained during the field trials.e&An Experiment in Autonomous Navnpt a`4; .K _/^]\Bordtad, Arnstein J. 1985F?Bearings-only target motion analysis estimation characteristics Control and Computersr133n 95-101Tracking"Borghese, N. A. Ferrigno, G. 1990XQAn algorithm for 3-D automatic movement detection by means of standard TV cameras\2+IEEE Transactions on Biomedical Engineeringl3712 1221-1225 December 1990TrackingIEEE Log number 9038991iBouget, Jean-Yves. 1997.'3D transformations & camera calibrationn 7 ppF@Class Notes: http://www.cs.caltech.edu/~ps/3DP/3DP_97/notes.htmlTracking:3http://www.cs.caltech.edu/~ps/3DP/3DP_97/notes.htmlEncyclopedia Britannica 1994Encyclopedia Britannica Encyclopedia Britannica 2001April 27 HTML http://www.britannica.com/$Broida, Ted J. Chellappa, Rama 1986>8Estimation of object motion parameters from noisy images<5IEEE Trans. Pattern Analysis and Machine Intelligencea8r1 90-99, January 1986Tracking0)Brown, Robert Grover Hwang, Patrick Y. C. 1992B;Introduction to Random Signals and Applied Kalman Filtering5 Wiley & Sons, Inc. 5020 Second $Intro to Random Signals and KF 0471-52573-1*$Kalman filter sensor fusion tracking0)Brown, Robert Grover Hwang, Patrick Y. C. 1996f`Introduction to Random Signals and Applied Kalman Filtering: with MATLAB Exercises and Solutions Wiley & Sons, Inc. 484 Third@ $Intro to Random Signals and KF 0471128392*$tracking Kalman filter sensor fusion.'Robert Grover Brown Patrick Y. C. Hwang 1997lfIntroduction to Random Signals and Applied {K}alman Filtering: with {MATLAB} Exercises and SolutionsztReally good introduction to Kalman filters. It's a very readable book and the Matlab exercises are useful as well. Brugger, W. Milner, Morris 1978JCComputer-aided tracking of body motions using a c.c.d.-image sensort2,Medical & Biological Engineering & Computing16207-210i March 1978f`Human locomotion Optoelectronics Kinesiology Charge-coupled devices Television Computer Tracking *#Bruss, Anna R. Horn, Berthold K. P. 1981Passive navigation  Cambridge, MA1 NHMassachusetts Institute of Technology Artificial Intelligence Laboratory 20 pp November 1981 A.I. Memo 662Tracking Bryson, Steveo 1992NGSPIE Proceedings Volume 1669 Stereoscopic Displays and Applications III} &John O. Merritt Scott S. Fisher SPIE  San Jose, CA 1669244-255February 9-13, 1992, 0-8194-0823-9-Tracking0*Bui, Hung H. Vankatesh, Svetha West, Geoff 2000F@A probabilistic framework for tracking in wide-area environmentsRLProceedings of the International Conference on Pattern Recognition (ICPR'00) Barcelona, Spain4-702-706September 3-8 2000Tracking'Department of Computer Science/ Curtin University of Technology/ Perth, WA 6001, Australia Email: {buihh, svetha, geoff} @cs.curtin.edu.au(!Burdea, Grigore Coiffet, PhilippeG 1994 Virtual Reality Technology John Wiley & Sons, Inc.i 400i First$0)La Realite Virtuelle, Hermes, Paris, 1993:JCvirtual environments Interactive computer systems tracking displays Burton, R. P. 1973D=Real-Time Measurement of Multiple Three-Dimensional Positions$Department of Computer Science Salt Lake City, UT USA University of Utah Ph.D.tracking.(http://www.cs.byu.edu/info/rpburton.html'pjRobert Preece Burton 3326 TMCB Brigham Young University Provo, UT 84602 (801) 378-6467 rpburton@cs.byu.edu(!Burton, R. P. Sutherland, Ivan E. 1974<5TWINKLEBOX: A Three-Dimensional Computer-Input DeviceF?AFIPS Conference Proceedings, 1974 National Computer Conference Chicago, IL USA (!AFIPS Press, Montvale, New Jersey 43513-520May 6-10$JDAlso Bell Laboratories Technical Memorandum TM-74-5161-3, July 1974.tracking  eD ( 0)Schodl, Arno Haro, Antonio Essa, Irfan A.\ 19984.Head tracking using a textured polygonal model  Atlanta, GAe jdGeorgia Institute of Technology, College of Computing, Graphics, Visualization and Usability Center 6 pp August 1998Technical report GIT-GVU-98-24Tracking@9http://www.gvu.gatech.edu/perception/projects/head-track/ Schut, G. B. 1960f`On exact linear equations for the computation of the rotational elements of absolute orientationPhotogrammetriar161 34-37Tracking'd]Photogrammetric Research Division of Applied Physics National Research Council Ottawa, CanadaShannon, C. E. 1948,&A Mathematical Theory of Communication(!The Bell System Technical Journal27379423 July, October0**THE* seminal paper on information theory.shannon1948.pdf6information theorytracking $Sharma, Rajeev Molineros, Jose 1997.'Computer vision-based augmented realitye60Presence: Teleoperators and Virtual Environments6b3o292-317r June 1997Tracking no paper copy"Shaw, Chris Liang, Jiandongt 1992F?An experiment to characterize head motion in VR and RR using MRfB;Proceedings of the 1992 Western Computer Graphics Symposiumc 99-101Tracking<6Conference in Banff, Alberta, Canada, April 6-8, 1992.Smith, Bernard R. 1984^WDigital head tracking and position prediction for helmet mounted visual display systems *$AIAA 22nd Aerospace Sciences Meeting  New York, NY AIAA AIAA-84-0557Tracking6/Conference in Reno, Nevada, January 9-12, 1984. ,%So, Richard H. Y. Griffin, Michael J. 1992d^Compensating lags in head-coupled displays using head position prediction and image deflectionJournal of Aircraftu296 1064-1068November-December 1992$Presented as Paper 91-2926 at the AIAA Flight Simulation Technologies Conference and Exhibit, New Orleans, LA, Aug. 12-14, 1991; revision received Nov. 29, 1991.Tracking ,%So, Richard H. Y. Griffin, Michael J.n 1992B;Selspot Technical Specifications, Selcom Laser MeasurementslJuly-August 1992TrackingRKObtained from Innovision Systems, Inc. (Warren, MI) See also reference #259D=Soatto, Stefano Perona, Pietro Frezza, Ruggero Picci, Giorgio 1996*$Motion estimation via dynamic vision,&IEEE Transactions on Automatic Control413t393-414TrackingD=Sorensen, Brett R. Donath, Max Yang, Guo-Ben Starr, Roland C.t 1989f`The Minnesota Scanner: a prototype sensor for three-dimentional tracking of moving body segments2,IEEE Transactions on Robotics and Automation54499-509 August 1989TrackingIEEE Log Number 8928894Sorenson, H.W. 19704.Least-Squares estimation: from Gauss to Kalman IEEE Spectrum7 63-68 July$tracking Sowizral, H. Barnes, D.` 1993:3Tracking Position and Orientation in a Large Volume"Proceedings of IEEE VRAIS 93 "IEEE Computer Society Press.132-139 SPIRIT 20004.SPIRIT Project: Making networks location-aware 2000 January 4,&http://www.uk.research.att.com/spirit/$tracking -!$//#..1&&& )''''''  """"3%,777$*--$$$$$$$/****#####......11111&2222222 )))'''''''' """"""77$$/**#####. (6  Jiang, BolanJohnson, BrianMJohnson, Rob E.M Jones, H. R.Joshi, Aravind K.Julier, Simon, J.July 19-24, 1998Kadaba, Murali P.Kailath, ThomasKajiya, James ThKajiya, James T.hKalawsky, Roy S. Kalman, R.E. Kamberova, G. Kameda, T.5 Kanade, T.5 Kanade, Takeo Kaplan, Elliot D. (Editor) Katz, L. Kauff, P.Keller, KurtisKelly, Douglas G. KESKULA, ERIK Kim, Dohyung(Kite, David H.MKlein, AllisonEHKlinker, GudrunTKlinker, Gudrun J.M Kobayashi, K.Kobayashi, KazayukiMKolasinski, Eugenia M.Koller, DieterMKosola, Heikki*_(Kouba, James T.M Kramer, AndreKrause, Lloyd O.Krauss, ThomasMKrekel, Paul F. C.fڨKremers, Jan H.MKrouglicof, N.MKrouglicof, Nicholas Kubach, U. Kubach, UweKuipers, Jack B. Kumar, RakeshKushner, Cherie_(Kutulakos, Kiriakos N.Lagendijk, R., L. Lake, Adamj Lancraft, R.Laughlin, Darren R.M Laycock, J.j LAYTON, JESSELee, Jong Weon Lee, SangLemoncelli, A. Leonard, J.J. Leonhardi, A.Leonhardi, Alexander Lesh, NealjLewis, Frank L. Li, KaiN Li, Xiao-Rong Liang, J.Liang, JiandongMLindgren, Allen G.M Link, Brianu List, Uwe H. Liu, Zhiyan5Livingston, MarkLivingston, Mark A.M Loffeld, O.uLoffelmann, HelwigM Loffler, A.( Low, Kok-LimLucas, Bruce D.MMAC Macellari, V. Machin, D.( MacIntyre, B.MacIntyre, BlairMacKenzie, ScottMackinlay, Jock D.fڨ Madhavan, R.(Magee, MichaelM Mahmoud, R.uMajoros, AnthonyMajumder, AditiT Mann, R. W.uMark, William R.Martin, William|x Matsui, H. uMatthies, LarryMavor, Anne S.M Max, NelsonMaybeck, Peter S.Mayer-Patel, K.Mazuryk, ThomasMcAllister, DavidMcClary, CharlesMcClelland, R. W.McFarland, Richard E. McGhee, R. B.McGhee, Roberth McKendall, R.McKinnon, G. M.MMcKinnon, Gordon M.M McMillan, L.McMillan, Leonard McVey, E. S. Meditch, S.uMenges, Brian M.Merritt, John O. Meyer, K.Meyer, Kenneth*_(Milner, MorrisM Mine, Mark R. Mizell, DavidMolineros, JoseM Mueller, Paul Mulder, AxelMulligan, Jane1kMunekata, FumioMNagao, KatashitINardone, Steven C.M Nash, JimNash, Sarah H.MNayar, Shree K.MNDINebot, Eduardo, M.Neely, Howard E. IIINeely, Howard E., III NEFF, DENNISPNeilson, P. D.hNetravali, A. N.Netravali, Arun N.MNettleton, E. W.Neuman, UlrichM Neumann, U.uNeumann, UlrichNewman, JosephM Newman, P.( Nguyen, Khoi Nichols, RichNoguchi, MinoriMNot much different from the Meyer paper and definitely not as thorough, though it is a year newer and may therefore have info not in the Meyer paper. Nyland, Lars O'Rourke, J.Oceanographers, WomenOhshima, ToshikazuM Ohta, Yuichi Olson, M. H. %$ 1*Neilson, P. D. 1972b[Speed of Response or Bandwidth of Voluntary System Controlling Elbow Position in Intact Manb("Medical and Biological Engineering10450-459@<6Nettleton, E. W. Gibbens, P. W. Durrant-Whyte, Hugh, F 2000nhClosed form solutions to the multiple platform simultaneous localisation and map building (SLAM) problemAeroSense 2000 Orlando, FL USA April 24-28-localization tracking This paper presents a closed form solution to the multiple platform simultaneous localisation and map building (SLAM) problem. Closed form solutions are presented in both state space and information based forms. A key conclusion of this paper is that the information-state based form offers many advantages over the state space formulation in allowing the SLAM algorithm to be decentralised across multiple platforms. The benefits of operating SLAM in an information form are numerous. The additive properties of the information update make it especially attractive, as does the ability to predict estimates through any direction in time. However, of paramount importance is the well-known ability to decentralise the information filter. A general form of the continuous time inverse covariance matrix for the SLAM problem is presented to determine such properties as the initial and steady state conditions. These properties are investigated to determine their dependence and relationship to both the observation and process noise. Examination of the structure of the general form of the inverse covariance matrix also gives an insight into what information should be communicated between platforms in the decentralised architecture and how it can be managed.SLAM.pdf$Neumann, Ulrich Cho, Youngkwan 1996.(A self-tracking augmented reality systemF?ACM International Symposium on Virtual Reality and Applicationso  Hong Kongo109-115, July 1996- 0-89791-825-8-TrackingXRAuthor affiliation: Computer Science Department, University of Southern California'>7Email: unuemann@graphics.usc.edu ykcho@graphics.usc.edus Neumann, Ulrich You, Suya 1998JDIntegration of region tracking and optical flow for image estimation paper\Tracking'Computer Science Department Integrated Media Systems Center University of Southern California Email {uneumann|suyay| @graphics.usc.edup& Neumann, Ulrich Majoros, Anthony 1998tmCognitive, performance, and system issues for augmented reality applications in manufacturing and maintenance$Proceedings of IEEE VRAIS '98-  Atlanta, GA 4-1114-18 March 1998Tracking no paper copyc Neumann, Ulrich Park, Juan 1998>8Extendible object-centric tracking for augmented reality$Proceedings of IEEE VRAIS '98h  Atlanta, GA2148-155e14-18 March 1998Tracking no paper copy-Neumann, U. You, S.i 19994.Natural Feature Tracking for Augmented Reality&IEEE Transactions on Multimediap11 53-64n March 1999TrackingNewman, Joseph 1999.(An example of the extended Kalman filter 7 ppDecember 17, 1999f papertTrackingOceanographers, Women 2001 Women Exploring the Oceans 2001April 27 HTML("http://www.womenoceanographers.orgLFOhshima, Toshikazu Satoh, Kiyohide Yamamoto, Hiroyuki Tamura, Hideyuki 1998B;AR2 hockey: a case study of collaborative augmented realitya$Proceedings of IEEE VRAIS '98}  Atlanta, GA IEEE268-27514-18 March 1998Tracking no paper copyeF?Pasman, W. van der Schaaf, A. Lagendijk, R., L. Jansen, F., W. 199960Accurate overlaying for mobile augmented realityComputers & Graphics23875-881trackingPetridis, Vassiliosn 1981B;A method for bearings-only velocity and position estimation,&IEEE Transactions on Automatic Control AC-262-488-493c April 1981TrackingPhillips, Diana 2000piOn the Right TrackA unique optical tracking system gives users greater freedom to explore virtual worldstComputer Graphics World 16-18  AprilctrackingArticle about the HiBalla&Polhemus 2000Polhemus Polhemus 2000 September 15 HTMLtracking& http://www.polhemus.com/home.htm:4Raab, F. H. Blood, E. B. Steiner, T. O. Jones, H. R. 197981Magnetic Position and Orientation Tracking System<5IEEE Transactions on Aerospace and Electronic Systems AES-15709-718$tracking Rae-Dupree, Janet 1997LEExperts Look at Where Computing is Headed; Leaving the Desktop BehindSan Jose Mercury Newsx San Jose, CA USA1#A Morning FinalJuly 26 Leaving the Desktop Behind$tracking  BishۆPGary Fuchs, Henry 1984:3The Self-Tracker: A Smart Optical Sensor on Silicon Advanced Research in VLSIi ,%Massachusetts Institute of Technologyc  Artech House 65-73 January 23-25Strackingatnager1993_suې92BISHOP G dp`ۑ92BISHOP G Fۑ H .ZaiquesrۑBachmann, Eric, Robert 2000rkInertial and Magnetic Tracking of Limb Segment Orientation for Inserting Humans into Synthetic EnvironmentsComputer Science  Monterey, CA $The Naval Postgraduate School 197 leavesJanuary Ph.D. Thesis @:Inertial and Magnetic Tracking of Limb Segment Orientationtracking hybrid inertialCurrent motion tracking technologies fail to provide accurate wide area tracking of multiple users without interference and occlusion problems. These limitations make difficult the construction of a practical and intuitive interface, which allows humans to be inserted into networked virtual environments in a fully immersive manner. Advances in the field of miniature sensors make possible inertial/magnetic tracking of human body limb segment orientation without the limitations of current systems. Due to implementation challenges, inertial/magnetic sensors have not previously been used successfully for full body motion capture. This research proposes to overcome these challenges using multi-axis sensors combined with a quaternion-based complementary filter algorithm capable of continuously correcting for drift and following motion through all orientations without singularities. Primarily, this research involves the development of a prototype tracking system to demonstrate the feasibility of hybrid RF/magnetic/inertial motion tracking. Construction of inertial/magnetic (MARG) sensors is completed using off-the-shelf components. Mathematical analysis and computer simulation are used to validate the correctness of the complementary filter algorithm. The implemented human body model utilizes the world-coordinate reference frame orientation data provided in quaternion form by the complementary filter and orients each limb segment independently. Calibration of the model and the inertial sensors is accomplished using simple but effective algorithms. Physical experiments demonstrate the utility of the proposed system. These experiments involve the tracking of human limbs in real-time using multiple inertial sensors. The motion tracking system produced has an accuracy which is comparable and a latency which is superior to active electro-magnetic sensors. The system is sourceless and does not suffer from range restrictions and interference problems. With additional MARG sensor packages, the architecture produced will easily scale to full body tracking. This new technology overcomes the limitations of motion tracking technologies currently in use. It will provide wide area tracking of multiple users in virtual environment and augmented reality applications.Advisor was Mike Zydat Bachmann2000_tracking.pdf$/ ZWelc0reg Bishop, Gary 2001The Kalman Filter 2+University fo North Carolina at Chapel Hill  2001 January 1December 8, 2000 Welch, Greg 1996>7SCAAT: Incremental Tracking with Incomplete Informationl$Department of Computer Science Chapel Hill, NC, USA 2+University of North Carolina at Chapel Hill 207 leavesPh.D. Dissertation TR96-051Ava-6897$Thesis Compt. Sci. 1996 W4396vtracking Kalman filterThe Kalman filter provides a powerful mathematical framework within which a minimum mean-square-error estimate of a users position and orientation can be tracked using a sequence of single sensor observations, as opposed to groups of observations. We refer to this new approach as single-constraint-at-a-time or SCAAT tracking. The method improves accuracy by properly assimilating sequential observations, filtering sensor measurements, and by concurrently autocalibrating mechanical or electrical devices. The method facilitates user motion prediction, multisensor data fusion, and in systems where the observations are only available sequentially it provides estimates at a higher rate and with lower latency than a multiple-constraint approach. Improved accuracy is realized primarily for three reasons. First, the method avoids mathematically treating truly sequential observations as if they were simultaneous. Second, because each estimate is based on the observation of an individual device, perceived error (statistically unusual estimates) can be more directly attributed to the corresponding device. This can be used for concurrent autocalibration which can be elegantly incorporated into the existing Kalman filter. Third, the Kalman filter inherently addresses the effects of noisy device measurements. Beyond accuracy, the method nicely facilitates motion prediction because the Kalman filter already incorporates a model of the users dynamics, and because it provides smoothed estimates of the user state, including potentially unmeasured elements. Finally, in systems where the observations are only available sequentially, the method can be used to weave together information from individual devices in a very flexible manner, producing a new estimate as soon as each individual observation becomes available, thus facilitating multisensor data fusion and improving the estimate rates and latencies. The most significant aspect of this work is the introduction and exploration of the SCAAT approach to 3D tracking for virtual environments. However I also believe that this work may prove to be of interest to the larger scientific and engineering community in addressing a more general class of tracking and estimation problems.rkby Gregory Francis Welch. ill. ; 29 cm. Thesis (Ph. D.)--University of North Carolina at Chapel Hill, 1996.D=http://www.cs.unc.edu/~welch/media/pdf/scaat_dissertation.pdfr'~University of North Carolina at Chapel Hill Department of Computer Science CB# 3175, Sitterson Hall Chapel Hill, NC 27599-3175 (5 Ottenheimer, D.M Palmer, JayuPalovuori, Karri(Papadimitriou, C. Park, Juan u Park, JunParker, Steven|x Pasman, W. Patel, AvniuPeleg, SchmuelM Pentland, A.Pentland, AlexPentland, Alex P.Perona, PietroMPetridis, VassiliosMPfeifer, GeorgePhillips, DianaPicci, GiorgioM Pito, R.\ Polhemus Praun, Emil5Press, William H. Price, C. F.Project, UNC Tracker|wpulse., This is the earliest known acoustic tracker. It's a time of flight device that uses a spark gap to create the` Raab, F. H.5Rae-Dupree, JanetRaghavan, Vijaimukund Rander, P.5 Rander, Peter Rashid, GusRaskar, Ramesh Rauch, H.E.uRehg, James M.M Rekimoto, JunRensing, N. M.Reunert, Michael K.M Richards, J.Richardst, Scott, W. Riner, BruceRoberts, Kenneth S.Roberts, Lawrence G.(Robertson, George G.Robinett, Warren(Roca, F. XavierMRockwood, Alyn Rose, Eric uRose, Eugene J.MRosenblatt, J. K. Rothermel, K.Rothermel, KartI Rousso, Benny Rowell, D. uRushmeier, Holly Saito, H.Salesin, David H. Salz, J.6Samanta, RudrajitSandin, Daniel J.Sarfaty, RonaldSatoh, KiyohideMSawhney, Harpreet S.Sayed, Ali, H.SCAAT!, Here's*_(Schalkoff, R. J. Schfer, R.5 Scheding, S.(Scher-Zagier, EllenSchmalstieg, DieterM Schmid, D.( Schodl, ArnoSchoeneman, Chris Schreer, O.5 Schut, G. B. Schwehm, M.Schwehm, MarkusI($Science, University of Utah Computer Seales, BrentSebesta, Henry R.Seitz, Steven, M. Selspotd`sensors., hybrid inertial/ultrasonic system---ultrasonic compensates for drift in the inertialShafer, Steven A.Shannon, C. E.Sharma, RajeevM Shaw, C. Shaw, Chrisu Shedd, Ben5 Sheppard, P.(Sheppard, P.J.GXShirley, Peter|x Shoemake, Ken Singh, G.Singh, Jaswinder PalSINGLETON, JACQUELYN Siva, K. Slater, MeljSloan, Peter-Pike J.xSmith, Bernard R. Smith, C.M.5 Smits, BrianSo, Richard H. Y.Soatto, StefanoMSobek, David A.MSorensen, Brett R.MSorenson, H.W. Sowizral, H.Sowizral, HenryMSowrizal, H., A.Spiegel, Van deM SPIRITH6Spitzer, Mark B. Spohrer, Jim Starner, T. Starner, ThadStarr, Roland C. State, AndreiSteed, AnthonySteiner, T. O.h Stesin, LevjStine, Rebecca Stovall, CharlesStrickland, DorothyMStriebel, C.T.MStuetzle, WernerSterzlinger, WolfgangUSutherland, Ivan E.ƈSvoboda, J. V.MSvoboda, JaroslavSystems, Virtual Research Tachi, S. Tachi, SusumuTamura, HideyukiTarabanis, K.A.x Technologies, Image Guided41technologies., A very thorough survey of trackingTechnology", "Ascension0Technology, AscensionTerauchi, Tachio Tetewsky, A.Teukolsky, Saul A.fڨ Thalmann, D.This paper presents the first continuous phase acoustic tracker. Better update rates, but ambiguous results due to the repetition of the signal over the distances moved.A^SPR^ Azuma, Ronald T. 19950)Predictive Tracking for Augmented Realityc Chapel Hill, NCp RKUniversity of North Carolina at Chapel Hill, Department of Computer ScienceeFebruaryTR95-007Tracking.'See also reference #28 for dissertation'LECB # 3175, Sitterson Hall/UNC-Chapel Hill/Chapel Hill, NC 27599-3175nAzuma, Ronald T. 1995$A survey of augmented reality.  Malibu, CA 38 pprAugust 8, 1995unpublished paper{TrackingFrom top: To be published in Course Notes #9: Developing Advanced Virtual Reality Applications, ACM SIGGRAPH 95 (Los Angeles, CA, 6-11 August 1995). See also reference #145NAzuma, Ronald T. 1997$A Survey of Augmented Reality60Presence: Teleoperators and Virtual Environments6t40355-385 August  Survey of AR$Course Notes #9: Developing Advanced Virtual Reality Applications, ACM SIGGRAPH 95 (Los Angeles, CA, 6-11 August 1995), 20-1 to 20-38e tracking augmented reality This paper surveys the field of Augmented Reality, in which 3-D virtual objects are integrated into a 3-D real environment in real time. It describes the medical, manufacturing, visualization, path planning, entertainment and military applications that have been explored. This paper describes the characteristics of Augmented Reality systems, including a detailed discussion of the tradeoffs between optical and video blending approaches. Registration and sensing errors are two of the biggest problems in building effective Augmented Reality systems, so this paper summarizes current efforts to overcome these problems. Future directions and areas requiring further research are discussed. This survey provides a starting point for anyone interested in researching or using Augmented Reality.:4http://www.cs.unc.edu/~azuma/azuma_publications.html'HRL Laboratories Loc. MA, Bldg. 254, MS RL96 3011 Malibu Canyon Road Malibu, CA 90265-4799 azuma@HRL.com Office: (310) 317-5151 Fax: (310) 317-5695l.11&&&2 ))' ') # # "# 1survey Chapel Hill, NC USA 2+University of North Carolina at Chapel HillnTechnical ReportTR93-010tracking^WBhatnager1993_survey.pdf ftp://ftp.cs.unc.edu/pub/publications/techreports/93-010.tar.Za2,Bible, Steven R. Zyda, Michael Brutzman, Don^WUsing spread-spectrum ranging techniques for position tracking in a virtual environmenti15 papercTracking'leNaval Postgraduate School Department of Computer Science, Code CS/Zk Monterey, California 93943-5118  Bishop, Gary Fuchs, Henry@9Self-Tracker: a VLSI-based three-dimensional input systemp Chapel Hill, NCr PJUniversity of North Carolina at Chapel Hill Department of Computer Science 14 pps paperh  Self-Tracker 83-002Tracking Bishop, Gary Fuchs, Henry 1984:3The Self-Tracker: A Smart Optical Sensor on Silicon Advanced Research in VLSIi ,%Massachusetts Institute of Technologyc  Artech House 65-73 January 23-25Stracking @ .HIJL,MNPOQ@RSAUTVIWX9Y Z [\]^/_K;`a LMe<fhi(l0moNqr4 =+#>2tuvwyz{R|7T~VW)  Y  %]  "!"*1$%&a&5'F'e g()*3+,6.$-o/q0234-6878s in the application.:4http://www.cs.unc.edu/~azuma/azuma_publications.html'HRL Laboratories Loc. MA, Bldg. 254, MS RL96 3011 Malibu Canyon Road Malibu, CA 90265-4799 azuma@HRL.com Office: (310) 317-5151 Fax: (310) 317-5695prldBoard: Wh\@\1995WW? >\@\Pp\Azum\@onald T. ^+DE@@@I _߯o{>w/D. F.Crowley, J. L.MCruz-Neira, CarolinaCurtis, W., D.] Cutts, MattjCutts, MatthewUTDaily, Michael J. Dalrymple, G.Damianakis, StefanosHDaniilidis, Kostas1kDarrell, TrevorM David, PhilipDe Geeter, JanMDe Schutter, J.M Decreton, M.DeFanti, Thomas A. Demazeau, Y. Deng,0 Xu, 0 Loffler, A. Sheppard, P.J. Machin, D. 1999Welch, Greg Bishop, Gary 1997>7SCAAT: Incremental Tracking with Incomplete Information Turner WhittedComputer Graphicsn *#Los Angeles, CA, USA (August 3 - 8) ACM Press, Addison-Wesley333-344F?Annual Conference on Computer Graphics & Interactive Techniquesr("SIGGRAPH 97 Conference Proceedings August 3 - 8 SCAATztvirtual environments tracking feature tracking calibration autocalibration delay latency sensor fusion Kalman filterWe present a promising new mathematical method for tracking a user's pose (position and orientation) for interactive computer graphics. The method, which is applicable to a wide variety of both commercial and experimental systems, improves accuracy by properly assimilating sequential observations, filtering sensor measurements, and by concurrently autocalibrating source and sensor devices. It facilitates user motion prediction, multisensor data fusion, and higher report rates with lower latency than previous methods. Tracking systems determine the user's pose by measuring signals from low-level hardware sensors. For reasons of physics and economics, most systems make multiple sequential measurements which are then combined to produce a single tracker report. For example, commercial magnetic trackers using the SPASYN (Space Synchro) system sequentially measure three magnetic vectors and then combine them mathematically to produce a report of the sensor pose. Our new approach produces tracker reports as each new low-level sensor measurement is made rather than waiting to form a complete collection of observations. Because single observations under-constrain the mathematical solution, we refer to our approach as single-constraint-at-a-time or SCAAT tracking. The key is that the single observations provide some information about the user's state, and thus can be used to incrementally improve a previous estimate. We recursively apply this principle, incorporating new sensor data as soon as it is measured. With this approach we are able to generate estimates more frequently, with less latency, and with improved accuracy. We present results from both an actual implementation, and from extensive simulations.e~whttp://www.acm.org/pubs/citations/proceedings/graph/258734/p333-welch/ http://www.cs.unc.edu/~welch/media/pdf/scaat.pdfe'~University of North Carolina at Chapel Hill Department of Computer Science CB# 3175, Sitterson Hall Chapel Hill, NC 27599-3175 eD' F( 0)Schodl, Arno Haro, Antonio Essa, Irfan A. 19984.Head tracking using a textured polygonal model  Atlanta, GA. jdGeorgia Institute of Technology, College of Computing, Graphics, Visualization and Usability Center 6 pp August 1998Technical report GIT-GVU-98-24nTracking@9http://www.gvu.gatech.edu/perception/projects/head-track/  Schut, G. B. 1960f`On exact linear equations for the computation of the rotational elements of absolute orientationPhotogrammetriar161 34-37Tracking'd]Photogrammetric Research Division of Applied Physics National Research Council Ottawa, Canada Selspot  1987*#Selspot MULTILab system descriptionn 23 pp Selspot MULTILab 1987-02-05"3-D motion analysis Trackingsee also reference #127iShannon, C. E. 1948,&A Mathematical Theory of Communication(!The Bell System Technical Journal27379423 July, October0**THE* seminal paper on information theory.shannon1948.pdf6information theorytracking $Sharma, Rajeev Molineros, Jose 1997.'Computer vision-based augmented realitye60Presence: Teleoperators and Virtual Environments6b3o292-317r June 1997Tracking no paper copy"Shaw, Chris Liang, Jiandongt 1992F?An experiment to characterize head motion in VR and RR using MRfB;Proceedings of the 1992 Western Computer Graphics Symposiumc 99-101Tracking<6Conference in Banff, Alberta, Canada, April 6-8, 1992. Shoemake, Ken 19850)Animating Rotation with Quaternion CurvescComputer Graphicsi  San Franciscog  ACM Pressh245-254cF?Annual Conference on Computer Graphics & Interactive Techniques("SIGGRAPH 85 Conference ProceedingsSmith, Bernard R. 1984^WDigital head tracking and position prediction for helmet mounted visual display systems *$AIAA 22nd Aerospace Sciences Meeting  New York, NY AIAA AIAA-84-0557Tracking6/Conference in Reno, Nevada, January 9-12, 1984. ,%So, Richard H. Y. Griffin, Michael J. 1992d^Compensating lags in head-coupled displays using head position prediction and image deflectionJournal of Aircraftu296 1064-1068November-December 1992$Presented as Paper 91-2926 at the AIAA Flight Simulation Technologies Conference and Exhibit, New Orleans, LA, Aug. 12-14, 1991; revision received Nov. 29, 1991.Tracking ,%So, Richard H. Y. Griffin, Michael J.n 1992B;Selspot Technical Specifications, Selcom Laser MeasurementslJuly-August 1992TrackingRKObtained from Innovision Systems, Inc. (Warren, MI) See also reference #259D=Soatto, Stefano Perona, Pietro Frezza, Ruggero Picci, Giorgio 1996*$Motion estimation via dynamic vision,&IEEE Transactions on Automatic Control413t393-414TrackingD=Sorensen, Brett R. Donath, Max Yang, Guo-Ben Starr, Roland C.t 1989f`The Minnesota Scanner: a prototype sensor for three-dimentional tracking of moving body segments2,IEEE Transactions on Robotics and Automation54499-509 August 1989TrackingIEEE Log Number 8928894Sorenson, H.W. 19704.Least-Squares estimation: from Gauss to Kalman IEEE Spectrum7 63-68 July$tracking Sowizral, H. Barnes, D.` 1993:3Tracking Position and Orientation in a Large Volume"Proceedings of IEEE VRAIS 93 "IEEE Computer Society Press.132-139 SPIRIT 20004.SPIRIT Project: Making networks location-aware 2000 January 4,&http://www.uk.research.att.com/spirit/$tracking ] % r 0B Macellari, V.o 1983f`CoSTEL: a computer peripheral remote sensing device for 3-dimensional monitoring of human motion2,Medical & Biological Engineering & Computing21311-318,May 1983f`Tracking Charge-coupled devices Human motion analysis Kinematic data acquisition Optoelectronics<5Madhavan, R. Dissanayake, MWMG Durrant-Whyte, Hugh, F 1998d^Map-building and map-based localization in an underground-mine by statistical pattern matching *$A.K. Jain, S. Venkatesh, B.C. Lovell<6International Conference on Pattern Recognition (ICPR) Brisbane, Australia 4.IEEE Computer Society Press Piscataway, NJ USA2 1744-1746  August 17-21 0-8186-8512-34localization trackingtb\This paper reports on the map-building and map-based localization of a Load-Haul-Dump (LHD) truck in an underground mine using statistical pattern-matching techniques utilizing range images obtained from a scanning laser range-finder. The map-building approach is based on an Extended Kalman Filter (EKF) and the resulting map is composed of poly-lines. Three approaches are proposed for the localization of the vehicle, namely the Iterative Closest Point (ICP) approach, a reflective beacon based approach and the combined ICP-EKF approach, wherein, the last two approaches explicitly take into account the uncertainty associated with the observation data. These approaches are then compared using data gathered from an underground mine in Queensland, Australia for their relative merits subject to various factors and the corresponding results are presented.raj_icpr98.pdf,&Mahmoud, R. Loffeld, O. Hartmann, K. 1994<5Multisensor Data Fusion for Automated Guided Vehicles;NGProceedings of SPIE - The International Society for Optical Engineering\ 2247 85-89pTracking`ZMann, R. W. Rowell, D. Dalrymple, G. Conati, F. Tetewsky, A. Ottenheimer, D. Antonsson, E. 1983`YPrecise, rapid, automatic 3-D position and orientation tracking of multiple moving bodies\ H. Matsui K. KobayashiD>Proceedings of the VIII international congress of biomechanics  Champaign, ILi Human Kinetics 1104-1112 Tracking6/Mark, William R. McMillan, Leonard Bishop, Gary 1997 Post-rendering 3D warpingRB Fleming19952 Foley1997* Fox1998 Fox1999t Foxlin1993 Foxlin1994 Foxlin1996 Foxlin1998 Foxlin1998 Frey1996 Frezza1996uFriedman1992( Friedmann1992v Frye1957 ?ZFuchsw Fuchs1977 Fuchs1984 Fuchs1990 Fuchs1990 Fuchs1992Fuchs (Foxlin)1993Fuhrmann1997(y Ganapathyz Ganapathy1984& Ganapathy1987{ Ganapathy1994 Garrett1976 Garrett1996R Gelb1974Gervautz1995 Gibbens2000| Gillis1991 Golding1999 Goncalves1995 Gong19781 Gorkani1994 Gorkani19957 Goshtasby2001 Gottschalk1992 Gottschalk1993 Greer1997T Grewal1993  Grewal2001 Grewal2001 Griffin1992 Griffin1992 Guivant2000Hallaway1999~ Ham1983Hamilton1853aJ Hammel1983 Hanson1994 Haro19989 Harrington1998 Harrington1998Hartmann1994a Hassibi2000 Held1991 Herring1996 Hill1992 Hillis19901 Hirota1996 Hoff1996 Hoff19988 Hoff19999 Hohl1999@ Hohl1999` Hohl1999, Hollerbach1985F5Holloway1994Holloway1995Holloway1997oa Horn19811 Howe1992Hllerer19977Hllerer19977Hllerer1999 Huang1994 Hughes199312 Hughes19977K Hwang1992 Hwang1996; Hwang1997 Ickes1970 IGT2000 Iltanen1998 Inigo1981 Intersense2000 Irani1997V Jacobs1993  Jacobs1997 Jacoby19999 Janin1994 Janin1994$ Jansen19999 Jebara1997 Jense1999 Jiang1999w Johnson1977 Johnson1996 Jones1979 Julier1995 Julier1996  Kadaba2000 Kailath2000Kalawsky1993W Kalman1960  Kanade Kanade1985 Kanade1993 Kanade1994 Kaplan19963 Keller199994 Keller20010 Kim1997 Kite1990 Klinker Klinker1997 Klinker1997 Klinker1997 Kobayashi1994 Kolasinski1995 Koller Koller19979 Koller1997 Koller1997 Kosola19988 Kouba1985 Kramer19979 Krause1987 Krauss1997 Krekel19939[ Kremers1981 Krouglicof1986 Krouglicof1987 Kubach1999 Kubach1999 Kubach1999 Kubach19999 Kubach1999 Kuipers1980) Kuipers1998 Kumar1994> Kushner1995 Kutulakos1998$ Lagendijk1999WLancraft1984aLaughlin1992a Lee1999Lee199999 Lee1999992a Lee1999 Lee1999992a Lee1999992a Lee1999 Lee1999992a Lee1999992a Lee1999992a Lee1999992a Lee19992a Lee1999hlin1992a Lee1999992a Lee19991992a Lee19991992a Lee19991992a Lee1999in1992a Lee1999992a Lee1999in1992a Lee1999992a Lee1999992a Lee1999 Lee19991992a Lee1999992a Lee19992a Lee1999992a Lee19992a Lee19992a Lee1999992a Lee19992a Lee1999hlin1992a Lee19992a Lee19992a Lee1999 Durrant-Whyte2000# Durrant-Whyte20005 Durrant-Whyte2000 Durrant-Whyte2000 Durrant-Whyte2000o Ellis1997n Ellis1999 Ellis1999N Emura1994p Emura1994 Emura1994 Emura1994 Essa19989qEtienne-Cummings1997l Eyles1990 Eyles1990 Eyster1997 Eyster1997 Facao1993 Facao1993rFalconer1979a  Feder1999 Feiner1997s Feiner1997 Feiner1997 Feiner19999]Ferrigno1990o= Ferrin1991> Fleming1995* Fox1998  Fox1999 Fox1999t Foxlin1993 Foxlin1994 Foxlin1996 Foxlin1996 Foxlin1998 Foxlin1998 Foxlin1998 Foxlin1998 Frey1996 Frezza1996uFriedman1992( Friedmann1992 Friedmann1992v Frye1957 ?ZFuchsFuchsw Fuchs1977z Fuchs1984 Fuchs1984l Fuchs1990m Fuchs1990 Fuchs1990. Fuchs1992Fuchs (Foxlin)1993xFuhrmann1997uFuhrmann1997(y Ganapathyz Ganapathy1984{ Ganapathy1994 Garrett1976 Garrett1996R Gelb1974Gervautz1995# Gibbens2000 Gibbens2000| Gillis1991 Golding1999} Goncalves1995 Goncalves1995 Gong19781 Gorkani1994 Gorkani1995 Gottschalk. Gottschalk1992 Gottschalk1993 Greer1997T Grewal1993  Grewal2001 Grewal2001 Griffin1992 Griffin1992 Guivant2000 Guivant2000Hallaway1999~ Ham1983Hamilton1853aJ Hammel1983 Hanson1994 Haro19989 Harrington1998S Harrington1998 Harrington1998 Harrington1998Hartmann1994a Hassibi2000 Held1991 Herring1996 Hill1992j Hillis19901 Hillis19901 Hirota1996 Hoff1996 Hoff1996 Hoff19988 Hoff19988 Hoff19999 Hoff19999 Hohl1999@ Hohl1999` Hohl1999sHollerer19977Hollerer19977Holloway1995Holloway1997oa Horn19811 Howe1992Hllerer19977Hllerer1999 Huang1994 Hughes19931K Hwang1992 Hwang1996; Hwang1997 Ickes1970 IGT2000 Iltanen1998 Inigo1981 Intersense2000 Irani1997V Jacobs1993  Jacobs1997 Jacobs1997n Jacoby19999 Jacoby19999 Janin1994 Janin1994$ Jansen19999 Jebara1997 Jebara1997n Jense1999 Jense1999 Jiang1999w Johnson1977 Johnson1996 Jones1979 Julier1995  Julier1995 Julier1996  Kadaba2000 Kailath2000Kalawsky1993W Kalman1960  Kanade Kanade1984 Kanade1985 Kanade1993 Kanade1994 Kaplan19963 Keller199994 Keller20010 Kim1997 Kim1997 Kite1990 Klinker Klinker1997 Klinker1997 Klinker1997 Klinker1997 Kobayashi1994 Kolasinski1995 Koller Koller19979 Koller1997 Koller1997 Koller1997 Kosola19988 Kouba1985 Kramer19979 Krause1987 Krauss1997k Krekel19939 Krekel19939[ Kremers1981 Krouglicof1986 Krouglicof1987 Kubachd Kubach1999 Kubach1999 Kubach1999 Kubach19999 Kubach1999 Kuipers1980 Kumar1994> Kushner1995 Kutulakos1998$ Lagendijk1999WLancraft1984aLaughlin1992a Lee19998&lAzuma, Ronald T. Hoff, Bruce R. Neely, Howard E., III Sarfaty, Ronald Daily, Michael J. Bishop, Gary Chi, Vernon Welch, Greg Neumann, Ulrich You, Suya Nichols, Rich Cannon, Jim 1998F?Making Augmented Reality Work Outdoors Requires Hybrid Tracking\81First International Workshop on Augmented Reality San Francisco, CA, USA219-224k November 1 Making AR Work Ourdoorse(!augmented reality hybrid tracking\f`Developing Augmented Reality systems that work outdoors, rather than indoors in constrained environments, will open new application areas and motivate the construction of new, more general tracking approaches. Accurate tracking outdoors is difficult because we have little control over the environment and fewer resources available compared to an indoor application. This position paper examines the individual tracking technologies available and concludes that for the near term, a hybrid solution is the only viabl