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 viable approach. The distortion measured from an electronic compass and tilt sensor is discussed.: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) 317-5695Azuma, Ronald T. 1999>7The Challenge of Making Augmented Reality Work Outdoors8 $Ohta, Yuichi Tamura, Hideyuki4.Mixed Reality: Merging Real and Virtual Worlds Yokohama, Japan Springer-Verlago379-390 March 9-11 Making AR Work Ourdoors augmented reality trackingRKFirst International Symposium on Mixed Reality (ISMR 99) ISBN 3-540-65623-5 :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) 317-5695dVPAzuma, Ronald T. Lee, Jong Weon Jiang, Bolan Park, Jun You, Suya Neumann, Ulrich 1999HATracking in unprepared environments for augmented reality systemsnComputers & Graphics236787-793December *#Tracking in Unprepared Environments-(!tracking augmented reality hybrid: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) 317-56958:4Azuma, Ronald T. Hoff, Bruce R. Neely, Howard E. III 1999:4A Motion-Stabilized Outdoor Augmented Reality SystemIEEE Virtual Reality Houston, TX USA252-259S March 13-17 "Motion-Stabilized Outdoor AR(!tracking augmented reality hybrid2,Almost all previous Augmented Reality (AR) systems work indoors. Outdoor AR systems offer the potential for new application areas. However, building an outdoor AR system is difficult due to portability constraints, the inability to modify the environment, and the greater range of operating conditions. We demonstrate a hybrid tracker that stabilizes an outdoor AR display with respect to user motion, achieving more accurate registration than previously shown in an outdoor AR system. The hybrid tracker combines rate gyros with a compass and tilt orientation sensor in a near real-time system. Sensor distortions and delays required compensation to achieve good results. The measurements from the two sensors are fused together to compensate for each other's limitations. From static locations with moderate head rotation rates, peak registration errors are ~2 degrees, with typical errors under 1 degree, although errors can become larger over long time periods due to compass drift. Without our stabilization, even small motions make the display nearly unreadable.: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 @:Bachmann, Eric, Robert Duman, I. McGhee, R. B. Zyda, M. J. 1999haSourceless Sensing of Limb Segment Angles for Inserting Humans Into Networked Virtual Environmentr $The Naval Postgraduate School Januarytracking Submitted to Siggraph 99,.$NPS_inertial_tracking_1_limbs$ L| R{zywvJ,&Friedmann, M. Starner, T. Pentland, A. 1992<5Device Synchronization Using an Optimal Linear Filterb0)1992 Symposium on Interactive 3D Graphicse Cambridge, MA USAtrackingFrye, William E. 1957 ?60Fundamentals of inertial guidance and navigation,%Journal of the Astronautical Sciences 1-10Trackingnot indexed in: Citeseer, Google, Current Contents, or INSPEC Similar title available on the Internet: http://www.hq.nasa.gov/office/pao/History/conghand/guidance.htm,&Fuchs, Henry Duran, Joe Johnson, Brian 1977B7th International Conference on Image Analysis and Processing Capitolo, Monopoli, Italy "World Scientific, Singapore174-182p Impedovo, S.4-Progress in Image Analysis and Processing IIItSeptember 20 - 22tracking@:Varona, Jordi Gonzalez Roca, F. Xavier Villanueva, Juan J. 2000:4iTrack: Image-based probabilistic tracking of peopleRLProceedings of the International Conference on Pattern Recognition (ICPR'00) Barcelona, Spain3. 1122-1125September 3-8 2000Tracking'Computer Vision Center & Dept. de Informatica Universitat Autonoma de Barcelona Edifici O, 08193 Bellaterra (Barcelona), Spain Email: xaviv@cvc.uab.es$Verplaetse, Christopher, James 1996JCInertial proprioceptive devices: Self-motion-sensing toys and toolsIBM Systems Journal35 3 & 4$tracking $Verplaetse, Christopher James| 1997NGInertial-Optical Motion-Estimating Camera for Electronic CinematographyeMedia Arts and Sciences Cambridge, MA, USA ,%Massachusetts Institute of TechnologyMasters of Science.'tracking hybrid inertial optical sensori~wThe IOME Cam (inertial-optical motion-estimating camera) system estimates a video camera's motion using both optical and inertial data. Optical, or vision-based motion estimation, has a number of performance limitations based on the nature of its input: external motions as well as pixel noise, shadows, and occlusions in the optical field cause errors. Similarly, pure inertial motion estimation experiences errors that grow quadratically with time. This thesis examines a system that combines the bene ts of both data types and uses each to correct for the other's errors. Motivating applications for a self-motion-estimating video camera, such as graphical and physical modeling of a scene, are discussed. The Hummingbird inertial navigational hardware, designed and built for this project, is also described herein. Additionally, several related proprioceptive devices are presented.$Verplaetse_inertialOptical.pdf Vicci, Leandra 2001XRQuaternions and Rotations in 3-Space: The Algebra and its Geometric Interpretation Chapel Hill, NC\ 2+University of North Carolina at Chapel Hill{10 2001Technical ReportTR01-014.(Vieville, T. Clergue, E. Facao, P.E.D.S. 1993f_Computation of ego-motion and structure from visual and inertial sensors using the vertical cue{PIIEEE Proceedings of the Third International Conference on Computer Vision Berlin, Germany591-598r April 1993 0-8186-3870-2BTracking'PIINRIA Sophia BP109 06561 Valbonne, France Email: vthierry@sophia.inria.fr VRPN 2001("Virtual Reality Peripheral Network 3rdTech 2001April 25 HTML*$http://www.cs.unc.edu/Research/vrpn/Wallmark, J. T. 1957>8A new semiconductor photocell using lateral photo-effectProceedings IRE\45474-483Wang, Jih-fang@:A real-time optical tracker using off-the-shelf components$Department of Computer Science Chapel Hill, NC 2+University of North Carolina at Chapel Hill17Dissertation proposalTracking4.Dissertation proposal From top: Feb. 27/ Rev.2al Reality and Virtual Environments8 (!Addison-Wesley Publishing Company 405 First 0-201-63171-71@:tracking virtual environments Interactive computer systems Kalman, R.E. 1960@:A New Approach to Linear Filtering and Prediction Problems:4Transaction of the ASMEJournal of Basic Engineering82Series D 35-45 March "A New Approach to FilteringbFKalman filter stochastic estimation and control control theorytracking l^ Y   n):v\VKoller, Dieter Klinker, Gudrun Rose, Eric Breen, David Whitaker, Ross Tuceryan, Mihran 1997PIReal-time vision-based camera tracking for augmented reality applications\VProceedings of the ACM Symposium on Virtual Reality, Software and Technology (VRST-97)TrackingTNConference in Lausanne, Switzerland, Sept. 15-17, 1997 See also reference #286Krause, Lloyd O. 198782A direct solution to GPS-type navigation equations<5IEEE Transactions on Aerospace and Electronic Systems AES-232225-232 March 1987TrackingKrauss, Thomas 1997RKBeware of shortcomings when applying classical spectral-analysis techniques\Personal Engineering 36-42p October 1997TrackingB;From first page following author name: "The MathWorks, Inc"4-Krouglicof, N. Svoboda, J. V. McKinnon, G. M.t 1986VPNoncontact position and orientation measurement techniques for real-time systemsLEProceedings of ASME International Computers in Engineering Conference177-183Tracking Conference in Chicago, IL@:Krouglicof, Nicholas McKinnon, Gordon M. Svoboda, Jaroslav 1987>7Optical position and orientation measurement techniques  United States, .'CAE Electronics, Ltd., Montreal, CanadaMarch 10, 1987 4,649,504Tracking F?Kubach, Uwe Leonhardi, Alexander Rothermel, K. Schwehm, Markus 1999RKAnalysis of distribution schemes for the management of location information  Stuttgart0 `YInstitut fur Parallele und Verteilte, Hochstleistungrechner (IPVR), Universitat Stuttgartt January 1999Tracking'Institut fur Parallele und Verteilte Hochstleistungrechner (IPVR) Universitat Stuttgart Breitwiesenstr. 20 - 22 D-70565 StuttgartoKuipers, Jack B. 1980TMSPASYN - An electromagnetic relative position and orientation tracking system:4IEEE Transactions on Instrumentation and Measurement IM-294462-466 December 1980Tracking'F?Department of Mathematics Calvin College Grand Rapids, MI 49508\Kuipers, Jack B. 1998("Quaternions and Rotation Sequences  Princeton Princeton University Press 384y 0691058725$Kumar, Rakesh Hanson, Allen R. 1994D=Robust methods for estimating pose and a sensitivity analysisd CVGIP: Image Understanding603l313-342  November 1994 Tracking'Kumar David Sarnoff Research Center Princeton, NJ 08543 Hanson Computer Science Department University of Massachusetts at Amherst Amherst, MA 01003.(Kutulakos, Kiriakos N. Vallino, James R. 1998("Calibration-free augmented reality>8IEEE Transactions on Visualization and Computer Graphics41 1-20January - March 1998Tracking no paper copy>8Laughlin, Darren R. Ardaman, Andrew A. Sebesta, Henry R. 1992<6Inertial angular rate sensors: theory and applicationsSensors}October\ 20-24{ October 1992Tracking>7Author affiliation: Applied Technology Associates, Inc.$Lee, Jong Weon Neuman, Ulrichl 2000PJMotion Estimation with Incomplete Information using Omnidirectional VisionICIP2000Tracking4-http://www.usc.edu/dept/CGIT/papers/9_lee.pdf.'Lee, Jong Weon You, Suya Neuman, Ulrichi 200082Large Motion Estimation for Omnidirectional Vision2,IEEE Workshop on Omnidirectional Vision 2000Tracking4-http://www.usc.edu/dept/CGIT/papers/9_lee.pdf-(!Leonhardi, Alexander Kubach, Uwe 1999BOperations Training Division, Williams Air Force Base, Arizona 21 ppl December 1983+Final technical paper,TrackingAt top: AFHRL-TP-83-45(!Livingston, Mark A. State, Andreio 1997NHMagnetic tracker calibration for improved augmented reality registration60Presence: Teleoperators and Virtual Environments6n5532-546 October 1997Tracking no paper copy9$Lucas, Bruce D. Kanade, Takeol 19856/Optical navigation by the method of differencesl Aravind K. JoshiVPProceedings of the 9th International Joint Conference on Artificial Intelligence Morgan Kaufmannm981-984t$See also reference #292rTracking<5See also reference #292 Conference in Los Angeles, CA  MAC 2000$HiRes 3D Motion Capture System "Motion Analysis Corporation 2000 September 15 html  OrthoTrak IItracking optical sensorpF@http://www.motionanalysis.com/applications/movement/gait/3d.html'tnMotion Analysis Corporation 3617 Westwind Blvd. Santa Rosa, CA 95403 Phone: (707) 579-6500 Fax: (707) 526-062984@23`YWelch, Greg Bishop, Gary Vicci, Leandra Brumback, Stephen Keller, Kurtis Colucci, D'nardo 1999d^The HiBall Tracker: High-Performance Wide-Area Tracking for Virtual and Augmented EnvironmentsRKProceedings of the ACM Symposium on Virtual Reality Software and Technologye JDUniversity College London, London, United Kingdom (December 20 - 23) "ACM SIGGRAPH, Addison-Wesley 1-11 Mel SlaterDecember 20-23xrvirtual environments tracking calibration autocalibration delay latency sensor fusion Kalman filter optical sensorOur HiBall Tracking System generates over 2000 head-pose estimates per second with less than one millisecond of latency, and less than 0.5 millimeters and 0.02 degrees of position and orientation noise, everywhere in a 4.5 by 8.5 meter room. The system is remarkably responsive and robust, enabling VR applications and experiments that previously would have been difficult or even impossible. Previously we published descriptions of only the Kalman filter-based software approach that we call Single-Constraint-at-a-Time tracking. In this paper we describe the complete tracking system, including the novel optical, mechanical, electrical, and algorithmic aspects that enable the unparalleled performance.}http://www.acm.org/pubs/citations/proceedings/graph/323663/p1-welch/ http://www.cs.unc.edu/~welch/media/pdf/VRST99_HiBall.pdf '~University of North Carolina at Chapel Hill Department of Computer Science CB# 3175, Sitterson Hall Chapel Hill, NC 27599-3175Welch, Greg Bishop, Gary 2001The Kalman Filter 2+University fo North Carolina at Chapel Hill  2001 January 1December 8, 2000 HTMLKalman filter trackingSome tutorials, references, and research on the Kalman filter. This site is maintained by Greg Welch and Gary Bishop, faculty members of the Department of Computer Science at the University of North Carolina at Chapel Hill.*$http://www.cs.unc.edu/~welch/kalman/`YWelch, Greg Bishop, Gary Vicci, Leandra Brumback, Stephen Keller, Kurtis Colucci, D'nardoo 2001LFHigh-Performance Wide-Area Optical TrackingThe HiBall Tracking System60Presence: Teleoperators and Virtual Environments MIT Press (ed. Mel Slater)101>February$[Welch, 1999 #115]xrvirtual environments tracking calibration autocalibration delay latency sensor fusion Kalman filter optical sensor'~University of North Carolina at Chapel Hill Department of Computer Science CB# 3175, Sitterson Hall Chapel Hill, NC 27599-3175,%White, Phillip R. Garrett, Richard E. 1976>8A generalized interactive three dimensional input systemlfCAD 76, Second International Conference and Exhibition on Computers in Engineering and Building Design & IPC Science and Technology Press275-282White:1976:AGITrackingWildes, Richard P. 1991ZSDirect recovery of three-dimensional scene geometry from binocular stereo disparityuD>IEEE Transactions on Pattern Analysis and Machine Intelligence134761-774 August 1991RKtracking binocular stereo disparity interpretation three-dimensional vision IEEE Log Number 9100182f'>8S.R.I. David Sarnoff Research Center Princeton, NJ 08543 +3*0)"dr*(g Spohrer, Jim 1999Information in Places .(IBM Systems Journal, Pervasive Computing384$tracking  Spohrer, Jim 1999,%WorldBoard: What Comes After the WWW? >8Learning Communities Group, ATG, (c)Apple Computer, Inc. 1999December 24, 1999June 16 HTML  WorldBoard&information everywhere tracking^XWhile on sabbatical during the summer of 1996, I was hiking near Mt. Shasta in northern California, and pondering the question: What comes after the WWW? However, I was soon distracted by a beautiful plant beside the trail, and wanted to know what it was. I imagined being able to use my PowerBook with Ricochet modem to search the WWW and find a similar picture. If I could find such a picture, then I would know what the plant was. However, the next person who came along and wondered what the plant was would be in exactly the same position as me. I took a digital picture of the plant, so I could later ask someone what kind of plant it was. A few people in my group at Apple had been playing with GPS systems, and it occurred to me they had been talking about using a camera in conjunction with a GPS to geocode or "place stamp" pictures. I pushed my glasses back up my nose, and imagined putting it all together, including a new viewing system built into my glasses, and a way to leave information at that spot for the next hiker who asked the question I had asked. Eventually, I came to call this notion WorldBoard. WorldBoard is just one possible answer to the question of what comes after the WWW. I'm sure there are many more possible answers. For my part, I'm especially interested in this question, because the WWW is a great technology platform for supporting learning, but of course it's not the end of the line. Learning platforms evolve over time: books, TV, computer, standalone computer, networked computer, mobile computer, etc. Try your hand at creating a solution to the following imagination challenge:>8http://worldboard.org/pub/spohrer/wbconcept/default.html Spohrer, Jim 1999.'3. Key subproblem: determining locationf >8Learning Communities Group, ATG, (c)Apple Computer, Inc. 1999December 24, 1999  HTML  WorldBoardTrackingSee also reference #41:4http://worldboard.org/pub/spohrer/wbconcept/S03.htmlVPState, Andrei Hirota, Gentaro Chen, David T. Garrett, Bill Livingston, Mark A. 1996d^Superior Augmented Reality Registration by Integrating Landmark Tracking and Magnetic Tracking Rushmeier, Holly("SIGGRAPH 96 Conference Proceedings Addison Wesley429-438 ,&Annual Conference Series, ACM SIGGRAPH August 1996iTrackingTNStrickland, Dorothy Patel, Avni Stovall, Charles Palmer, Jay McAllister, David@9Self tracking of human motion for virtual reality systemss 10 ppPre-published paper\TrackingSee also reference #305TNStrickland, Dorothy Patel, Avni Stovall, Charles Palmer, Jay McAllister, David 1994@9Self tracking of human motion for virtual reality systemsiJDProceedings of the Stereoscopic Displays and Virtual Reality Systems Bellingham, WA SPIE 2177278-287 $See reference #304TrackingSee also reference #304iSutherland, Ivan E.  1968.(A head-mounted three dimensional displayZTProceedings of the 1968 Fall Joint Computer Conference, AFIPS Conference Proceedings Washington, D.C. Thompson Books 33, part 1757-764,%tracking virtual environments displaySutherland, Ivan E.t 1974,&Three-dimensional data input by tabletProceedings of the IEEE 62 (4)453-461eTracking4.A survey of sensor planning in computer vision*$K.A. Tarabanis P.K. Allen R.Y.\ Tsai*#IEEE Trans. Robotics and Automationn*#IEEE Trans. Robotics and Automation.11 1995 86-104$tracking Thompson, E. H.s 1959F?An exact linear solution of the problem of absolute orientationpPhotogrammetria 154 163-179b 1959Tracking,%Sebastian Thrun Dieter Fox W. Burgard 1998XQA Probabilistic Approach to Concurrent Mapping and Localization for Mobile RobotsiMachine Learning31 29-53F?tracking stochastic estimation and control mapping localizationaThis paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from data, along with the most likely path taken by the robot. Experimental results in cyclic environments of size up to 80 by 25 meter illustrate the appropriateness of the approach.NHthrun98_mappingLocalization.pdf http://www.ri.cmu.edu/pubs/pub_2830.html& Emanuele Trucco Alessandro Verri 19986/Introductory techniques for 3-D computer visiono $Upper Saddle River, New jersey  Prentice Hall 1 1 343 1st6 0-130261108-2$ 1998computer visionoUNC Tracker Project, 2000JCWide-Area Tracking; Navigation Technology for Head-Mounted Displaysc 2000July 18July 10 HTML UNC Tracker Projecttracking Kalman filter$http://www.cs.unc.edu/~tracker L8,7L86-2JCWilliams, S. B. Newman, P. Dissanayake, MWMG Durrant-Whyte, Hugh, F 2000F@Autonomous underwater simultaneous localisation and map buildingD=2000 IEEE International Conference on Robotics and Automation San Francisco, CA USA <6Institute of Electrical and Electronic Engineers, Inc. April 22-28u 0-7803-5889-9olocalization trackingEIn this paper we present results of the application of a Simultaneous Localisation and Map building (SLAM) algorithm to estimate the motion of a submersible vehicle. Scans obtained from an on-board sonar are processed to extract stable point features in the environment. These point features are then used to build up a map of the environment while simultaneously providing estimates of the vehicle location. Results are shown from deployment in a swimming pool at the University of Sydney as well as from field trials in a natural environment along Sydney's coast. This work represents the first instance of a deployable underwater implementation of the SLAM algorithm. ICRA_2000.pdfWloka, Mathhhias M. 1995,%Lag in Multiprocessor Virtual Realityt60PRESENCE: Teleoperators and Virtual Environments4p1 50-63m SeptemberWoltring, H. J. 1974^WNew Possibilities for Human Motion Studies by Real-Time Light Spot Position Measurement Biotelemetry1132-146@:tracking Interactive computer systems virtual environmentsWoltring, H. J.s 1976Calibration and measurement in 3-dimensional monitoring of human motion by optoelectronic means. II. Experimental results and discussiont Biotelemetry3 65-97$Parts of this paper were presented under the same title at the 3rd International Symposium on Biotelemetry, Pacific Grove, Calif. 1976.Tracking Motion study Biomechanics Displacement sensing Transducers Software Measuring equipment Photogrammetry Kalman filtering Light telemetrylfDaniel N. Wood Daniel I. Azuma Ken Aldinger Brian Curless Tom Duchamp David H. Salesin Werner Stuetzle 2000.'Surface Light Fields for 3D Photography  Kurt Akeley"Proceedings of SIGGRAPH 2000 81ACM Press / ACM SIGGRAPH / Addison Wesley LongmancD>http://www.cs.washington.edu/homes/daniel/siggraph2000-slf.pdf287-296@>7Computer Graphics Proceedings, Annual Conference Seriescsurface light fields, 3D photography, lumigraph, light field, function quantization, principal function analysis, view-dependent level-of-detail, image-based rendering, waveletshA surface light field is a function that assigns a color to each ray originating on a surface. Surface light fields are well suited to constructing virtual images of shiny objects under complex lighting conditions. This paper presents a framework for construction, compression, interactive rendering, and rudimentary editing of surface light fields of real objects. Generalizations of vector quantization and principal component analysis are used to construct a compressed representation of an object's surface light field from photographs and range scans. A new rendering algorithm achieves interactive rendering of images from the compressed representation, incorporating view-dependent geometric level-of-detail control. The surface light field representation can also be directly edited to yield plausible surface light fields for small changes in surface geometry and reflectance properties.ISBN 1-58113-208-50*You, Suya Neumann, Ulrich Azuma, Ronald T. 1999LFHybrid Inertial and Vision Tracking for Augmented Reality RegistrationIEEE Virtual Reality Houston, TX USA260-267 March 13-17 ,&Hybrid Inertial-Vision Tracking for AR(!tracking hybrid augmented realityl The biggest single obstacle to building effective augmented reality (AR) systems is the lack of accurate wide-area sensors for trackers that report the locations and orientations of objects in an environment. Active (sensor-emitter) tracking technologies require powered-device installation, limiting their use to prepared areas that are relatively free of natural or man-made interference sources. Vision-based systems can use passive landmarks, but they are more computationally demanding and often exhibit erroneous behavior due to occlusion or numerical instability. Inertial sensors are completely passive, requiring no external devices or targets, however, the drift rates in portable strapdown configurations are too great for practical use. In this paper, we present a hybrid approach to AR tracking that integrates inertial and vision-based technologies. We exploit the complementary nature of the two technologies to compensate for the weaknesses in each component. Analysis and experimental results demonstrate this system's effectiveness.0*You, Suya Neumann, Ulrich Azuma, Ronald T. 1999F?Orientation Tracking for Outdoor Augmented Reality Registration .'IEEE Computer Graphics and Applications@196 36-42Nov/Dec *#Orientation Tracking for Outdoor AR(!tracking hybrid augmented reality@0*You, Suya Neumann, Ulrich Azuma, Ronald T. 1999LFHybrid Inertial and Vision Tracking for Augmented Reality RegistrationIEEE Virtual Reality Houston, TX USAn260-267- March 13-17 ,&Hybrid Inertial-Vision Tracking for AR(!tracking hybrid augmented reality The biggest single obstacle to building effective augmented reality (AR) systems is the lack of accurate wide-area sensors for trackers that report the locations and orientations of objects in an environment. Active (sensor-emitter) tracking technologies require powered-device installation, limiting their use to prepared areas that are relatively free of natural or man-made interference sources. Vision-based systems can use passive landmarks, but they are more computationally demanding and often exhibit erroneous behavior due to occlusion or numerical instability. Inertial sensors are completely passive, requiring no external devices or targets, however, the drift rates in portable strapdown configurations are too great for practical use. In this paper, we present a hybrid approach to AR tracking that integrates inertial and vision-based technologies. We exploit the complementary nature of the two technologies to compensate for the weaknesses in each component. Analysis and experimental results demonstrate this system's effectiveness.ZTYoungblut, Christine Johnson, Rob E. Nash, Sarah H. Wienclaw, Ruth A. Will, Craig A. 1996"Full body motion interfacesI82Review of Virtual Environment Interface Technology Alexandria, VA $Institute for Defense Analyses181-208Tracking Part 7 of IDA Paper P-3186http://www.hitl.washington.edu/scivw/scivw-ftp/publications/IDA-pdf/MOTION1.PDF Full report: http://www.hitl.washington.edu/scivw/IDA/ Yun, Weijie Howe, Roger T. 199282Recent developments in silicon microaccelerometersSensorsnOctober 31-41{ October 1992Tracking>8Author affiliation: University of California at Berkeley>7Zikan, K. Curtis, W., D. Sowrizal, H., A. Janin, A., L.g 1994d]A note on dynamics of human head motions and on predictive filtering of head-set orientationsi4-Telemanipulator and Telepresence Technologies-trackingQ& Azarbayejani, Ali Pentland, Alex 1995B;Recursive Estimation of Motion, Structure, and Focal Length<5IEEE Trans. Pattern Analysis and Machine Intelligence176562-575 June,&Kalman filter tracking autocalibration tr-243.pdf $Azarbayejani, A. Pentland, A.c 1996f_Real-time self-calibrating stereo person tracking using 3-D shape estimation from blob features\  Cambridge, MAi 2+Massachusetts Institute of Technology (MIT) January 1996Technical report 363TrackingFrom top: MIT Media Laboratory, Perceptual Computing Technical Report #363 January 1996, Appears in: ICPR'96 Vienna, Austria August 1996n "Azuma, Ronald T. Ward, Markh 1991ZTSpace-Resection by Collinearity: Mathematics Behind the Optical Ceiling Head-Tracker Chapel Hill, NC USA 2+University of North Carolina at Chapel Hill 23NovemberTechnical Report 91-048trackingAt SIGGRAPH '91, UNC Chapel Hill demonstrated an electro-optical tracking system for Head-Mounted Displays that can track a user inside a room-sized volume. The mathematics that the system uses to compute the position and orientation of the user's head is based on a photogrammetric technique called space resection by collinearity. This paper gives a detailed description of this technique and its behavior in our working system.:4http://www.cs.unc.edu/~azuma/azuma_publications.html'HRL Laboratories Loc. MA, Bldg. 254, MS RL96 3011 Malibu Canyon Road Malibu, CA 90265-4799 azuma@HRL.com Office: (310) 317-5151 Fax: (310) 317-5695pAzuma, Ronald T. 19932+Tracking Requirements for Augmented Reality Communications of the ACM ("Association of Computing Machinery367 50-51 July tracking augmented reality:4http://www.cs.unc.edu/~azuma/azuma_publications.html'HRL Laboratories Loc. MA, Bldg. 254, MS RL96 3011 Malibu Canyon Road Malibu, CA 90265-4799 azuma@HRL.com Office: (310) 317-5151 Fax: (310) 317-5695d$Azuma, Ronald T. Bishop, Gary 1994NGImproving Static and Dynamic Registration in an Optical See-Through HMDoComputer Graphics Orlando, FL USA ACM Press, Addison-Wesleyr197-204F?Annual Conference on Computer Graphics & Interactive Techniques0("SIGGRAPH 94 Conference Proceedings July 24-29 tracking augmented realityf_In Augmented Reality, see-through HMDs superimpose virtual 3D objects on the real world. This technology has the potential to enhance a user's perception and interaction with the real world. However, many Augmented Reality applications will not be accepted until we can accurately register virtual objects with their real counterparts. In previous systems, such registration was achieved only from a limited range of viewpoints, when the user kept his head still. This paper offers improved registration in two areas. First, our system demonstrates accurate static registration across a wide variety of viewing angles and positions. An optoelectronic tracker provides the required range and accuracy. Three calibration steps determine the viewing parameters. Second, dynamic errors that occur when the user moves his head are reduced by predicting future head locations. Inertial sensors mounted on the HMD aid head-motion prediction. Autocalibration methods measure the orientation of these sensors. Accurate determination of prediction distances requires low-overhead operating systems and eliminating unpredictable sources of latency. On average, prediction with inertial sensors produces errors 2-3 times lower than prediction without inertial sensors, and 5-10 times lower than using no prediction at all. Future steps that may further improve registration are outlined.5:4http://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) 317-5695p[H   Bishop, Gary 1984:3The Self-Tracker: A Smart Optical Sensor on Silicon $Department of Computer Science Chapel Hill, NC USA 0*University of North Carlina at Chapel Hill 61 leavesPh.D. Dissertation TR84-002Ady-4592trackingA new system for real-time, three-dimensional computer input is described. The system will use a cluster of identical custom integrated circuits with outward looking lenses as an optical sensing device. Each custom integrated sensor chip measures and reports the shift in its one-dimensional image of the stationary room environment. These shifts will be processed by a separate general-purpose computer to extract the three-dimensional motion of the cluster. The expected advantages of this new approach are unrestricted user motion, large operating environments, capability for simultaneous tracking of several users, passive tracking with no moving parts, and freedom from electromagnetic interference. The fundamental concept for the design of the sensor chips relies on a cyclic relationship between speed and simplicity. If the frame rate is fast, the changes from image to image will be small. Small changes can be tracked with a simple algorithm. This simple algorithm can be implemented with small circuitry. The small circuitry lets a single chip hold the complete sensor, both imaging and image processing. Such implementation allows each sensor to be fast because all high-bandwidth communication is done on-chip. This cyclic relationship can spiral up as the design is iterated, with faster and simpler operation, or down, with slower and more complex operation. The system design sequence described here has been spiraling up. System, sensor, algorithm, and processor designs have each had several iterations. Most recently, a prototype sensor chip has been designed, fabricated, and tested. The prototype includes a one-dimensional camera and circuitry for image tracking that operates at 1000 to 4000 frames per second in ordinary room light. As part of this research, photosensors that operate at millisecond rates in ordinary room light with modest lenses have been designed, tested and fabricated on standard digital nMOS lines. They may be useful for designers of other integrated optical sensors.f`by Gary Bishop. ill. ; 29 cm. Thesis (Ph.D.)--University of North Carolina at Chapel Hill, 1984.2+http://www.cs.unc.edu/~gb/self_tracker.htmll'~University of North Carolina at Chapel Hill Department of Computer Science CB# 3175, Sitterson Hall Chapel Hill, NC 27599-3175 Bishop, Gary Fuchs, Henryi 1984:3The Self-Tracker: A Smart Optical Sensor on Silicont Advanced Research in VLSId ,%Massachusetts Institute of Technologyi  Artech House 65-73 January 23-25trackingSee also reference #29BL 2000& CODA mpx30 Motion Capture System B & L Engineering 2000April 27 html CODAtracking optical sensorExhibited at SIGGRAPH 99; Greg & Gary spoke w/ them. Original mfgr is: Charnwood Dynamics Ltd. Victoria Mills Fowke Street Rothley Leicestershire LE7 7PJ UK http://www.charndyn.com info@charndyn.com Tel: +44 (0)116 230 1060 Fax: +44 (0)116 230 1857 Siggraph 99 exhibitor guide has the US distributor as: B & L Engineering Booth 1967 Gus Lopez 3002 Dow Avenue Tustin, California 92780 USA +1.714.505.9492 gus@bleng.com www.bleng.comw@:http://www.charndyn.com/ and http://www.bleng.com/coda.htm 81Bolles, Robert C. Kremers, Jan H. Cain, Ronald A.t 198160A simple sensor to gather three-dimensional data Menlo Park, CA b\SRI International, Industrial Automation Department, Computer Science and Techology Division30 July 17, 1981 Technical Note249 SRI Project 1538Tracking 4rxqBNo2m0~l( &n6/David, Philip Balakirsky, Stephen Hillis, Davidr 19906/A real-time automatic target acquisition system@9Symposium of the Association for Unmanned Vehicle Systemsy  Dayton, OH 13 pp July 1990Tracking|uFrom top: This was presented at the Symposium of the Association for Unmanned Vehicle Systems, Dayton Ohio, July 1990B;De Geeter, Jan Van Brussel, H. De Schutter, J. Decreton, M. 1996:3Recognising and locating objects with local sensors,0*IEEE Conference on Robotics and Automation Minneapolis, Minnesota,&6 pp (In conf. proceedings: 3478-3483)April 22-28, 1996TrackingMichael F. Deering 1992&High resolution virtual realityi Edwin E. Catmull4.Computer Graphics (Proceedings of SIGGRAPH 92) Chicago, Illinoish262195-202*#stereoscopic display, head-trackingDISBN 0-201-51585-7 Deyst, J., J. Price, C. F. 1968\UConditions for Asymptotic Stability of the Discrete Minimum-Variance Linear Estimatorg,&IEEE Transactions on Automatic ControlDecembertracking Kalman filter& Systron Donner Inertial Division 2001"Gyrochip theory of operation  Concord, CA @9BEI Electronics Company, Systron Donner Inertail Division 2001April 27 HTMLTracking@9In lower left corner of document: B:THEORY.OP\gry\070192Systron Donner 2001Systron Donner Home Page 2001April 27 HTMLhttp://www.systron.com/Dowski, Edward, R. 1995RKAn Information Theory Approach to Incoherent Information Processing SystemsmB8Virtual reality: scientific and technological challenges Washington, D.C. National Academy Press188-204Tracking*$Publication copy, uncorrected proofs("Ellis, Stephen R. Menges, Brian M. 1997vpJudgements of the distance to nearby virtual objects: interaction of viewing conditions and accommodative demand60Presence: Teleoperators and Virtual Environments64452-460 August 1997eTracking no paper copycLEEllis, S. R. Adelstein, B. D. Baumeler, S. Jense, G. J. Jacoby, R. H. 1999piSensor spatial distortion, visual latency, and update rate effects on 3D tracking in virtual environments.'Proceedings of the IEEE Virtual Reality- Houston, Texas 81Institute of Electrical and Electronics Engineerse13 - 17 March, 1999@:Human performance Tracking Calibration Update rate LatencyEmura, S. Tachi, S. 1994:4Sensor Fusion based Measurement of Human Head MotionZS3rd IEEE International Workshop on Robot and Human Communication (RO-MAN 94 NAGOYA) & Nagoya University, Nagoya, Japan  Sensor FusionNtrackingEmura, S. Tachi, S.t 1994\VCompensation of time lag between actual and virtual spaces by multi-sensor integrationf`1994 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems  Las Vegas, NV 81Institute of Electrical and Electronics Engineersn363-469fOctober 2-5, 1994w MFI'94 0-7803-2072-71Tracking"Emura, Satoru Tachi, Susumue 1994:4Sensor Fusion based Measurement of Human Head MotionZS3rd IEEE International Workshop on Robot and Human Communication (RO-MAN 94 NAGOYA), & Nagoya University, Nagoya, Japan124-129-July 18-20, 1994  Sensor Fusion 0-7803-2002-6ttracking:4Etienne-Cummings, Ralph Van de Spiegel Mueller, Paul 19974.A focal plane visual motion measurement sensor0)IEEE Transactions on Circuits and Systems441e 55-66+ January 1997Tracking Falconer, David G. 1979@:Target tracking with the Hough and Fourier-Hough transform Menlo Park, CA SRI Internationala 11 ppi December 1979 Technical Note 202,TrackingParts I and II. Papers presented at the Eleventh and Thirteenth Annual Asilomar Conferences on Circuits, Systems, and Computers, Asilomar, California.Olivier Faugeras 1999>8Three-dimensional computer vision: a geometric viewpoint Cambridge, Massachusetts  The MIT Pressd1\ 14 663i 3rde 0-262-06159-8"$ 1993 TA1632.F38computer vision#.'Feder, H.J.S. Leonard, J.J. Smith, C.M.0 19992,Adaptive mobile robot navigation and mapping0*International Journal of Robotics Research187650-668 JulyF?mapping localization tracking stochastic estimation and controliThis paper addresses the problem of how to perform concurrent mapping and localization (CML) adaptively using sonar. Stochastic mapping is a feature-based approach to CML that generalizes the extended Kalman filter to incorporate vehicle localization and environmental mapping. The authors describe an implementation of stochastic mapping that uses a delayed nearest neighbor data association strategy to initialize new features into the map, match measurements to map features, and delete out-of-date features. The authors introduce a metric for adaptive sensing that is defined in terms of Fisher information and represents the sum of the areas of the error ellipses of the vehicle and feature estimates in the map. Predicted sensor readings and expected dead-reckoning errors are used to estimate the metric for each potential action of the robot, and the action that yields the lowest cost is selected. This technique is demonstrated via simulations, in-air sonar experiments, and underwater sonar experiments PNM,LJ&IH3rdTechp 20003rdTech 3rdTech 2000July 19July 15 HTMLtrackinghttp://www.3rdtech.com/i Agar, W. O. Blythe, J. H. 1968@:An optical method of measuring transverse surface velocityLFJournal of Scientific Instruments (Journal of Physics E) 1968 Series 21f 25-28TrackingAidala, Vincent J. 1979D=Kalman filter behavior in bearings-only tracking applicationss<5IEEE Transactions on Aerospace and Electronic Systems\ AES-151p 29-39 January 1979Tracking*$Aidala, Vincent J. Hammel, Sherry E. 1983JDUtilization of modified polar coordinates for bearings-only tracking"IEEE Trans. Automat. Contr.\ AC-28f283-294{ March 1983% pp 291-302Tracking'<6U.S. Naval Underwater Systems Center Newport, RI 02840("Akatsuka, Yuchiro Bekey, George A. 199881Compensation for end to end delays in a VR system\"Proceedings of IEEE VRAIS'98  Atlanta, GA IEEE156-159,14-18 March 1998Tracking no paper copy"Antonsson, E. K. Mann, R. W. 1989F@Automatic 6-D.O.F. kinematic trajectory acquisition and analysis:4Journal of Dynamic Systems, Measurement, and Control 111 31-39 March 1989Tracking Ascension 2000& Ascension Technology Corporation & Ascension Technology Corporation 2000 September 15 HTML  Ascensiontracking$http://www.ascension-tech.com/$Atkeson, C.G. J.M. Hollerbach 1985@9Kinematic features of unrestrained vertical arm movements0Journal of Neuroscience95 2318-2330 Ator, J. T. 1963:3Image-velocity sensing with parallel-slit recticles\0)Journal of the Optical Society of America5312 1416-1422 December 1963Tracking~This paper was presented at the spring meeting of the Optical Society of America, 25-27 March, 1963, in Jacksonville, FLorida.'piAffiliation: General Precision, Inc. Information Systems Group Librascope Division Glendale 1, California+ Ator, J. T.t 19664-Image velocity sensing by optical correlationcApplied Optics5a8l 1325-1331t August 1966pTracking $Azarbayejani, A. Pentland, A. 1994B;Recursive estimation of motion, structure, and focal lengtht  Cambridge, MAm 2+Massachusetts Institute of Technology (MIT)gTechnical report 243haTracking Structure from motion camera model camera calibration recursive estimation 3-D modelingSee also reference # 27 From top: Perceptual Computing Technical Report #243 To appear IEEE PAMI; Manuscript submitted July 1994'PJMedia Laboratory Massachusetts Institute of Technology Cambridge, MA 02139Behr>0r, Reinhold  1999rkRegistration for Outdoor Augmented Reality Applications Using Computer Vision Techniques and Hybrid SensorsaIEEE Virtual Reality Houston, TX, USA 13-17 March4.tracking inertial optical sensor sensor fusion"Behringer_regForOutdoor.pdfwPpx000496NHBailey, T. Nebot, Eduardo, M. Rosenblatt, J. K. Durrant-Whyte, Hugh, F. 1999@9Robust distinctive place recognition for topological mapsF?International Conference on Field and Service Robotics (FSR 99)t Pittsburgh, PA USA August 29-31localization tracking2Topological maps provide a compact and flexible method for mobile robot navigation without the requirement of high precision localisation or pre-planned trajectories. They represent an environment as a graph where each node of the graph is a distinctive place and each edge describes the path between two distinctive places. A distinctive place is a location in the environment which is distinguishable from other places on the basis of patterns observable in sensory data. The main difficulty with topological maps is that reliable distinctive place recognition has been hard to attain except in very simple, structured environments. Even in these environments, failure to recognise a place and false place recognition have been major problems. This paper discusses a method for recognising distinctive places, defined here as a set of features observed from a particular vehicle pose (position and orientation). Distinctive place recognition is achieved by extracting features from sensory data and matching their relative geometry to the relative geometry of the features stored in the topological map. If the observed features match those of a distinctive place, then the pose of the robot relative to the distinctive place pose is determined. Experimental results obtained with a 2D scanning laser on a mobile robot platform demonstrate that this method is robust to dynamic objects, occlusions and varied viewpoints.!""J  "D  McFarland, Richard E. 1986CGI delay compensation 60NASA Scientific and Technical Information Branch 25 ppc NASA Technical Memorandum  NASA TM 86703rTracking McFarland, Richard E. 1988JCTransport delay compensation for computer-generated imagery systems Moffett Field, CA NASA Ames Research Center 26 ppt January 1988 NASA Technical MemorandumNASA TM 100084Tracking Meditch, S. 196960Stochastic Optimal Linear Estimation and Control New York  McGraw-HillTracking4-Meyer, Kenneth Applewhite, Hugh Biocca, Frank} 1991$A survey of position trackers61Pre-published articleTracking60See also reference #31 for published description'Meyer and Applewhite Piltdown, Inc. 4470 SW Hall Blvd. #154 Beaverton, OR 97005 Biocca Center for Research in Journalism and Mass Communication University of North Carolina at Chapel Hill CB# 3365 Howell Hall Chapel Hill, NC 27599-4465:3Meyer, Kenneth Applewhite, Hugh L. Biocca, Frank A.D 1992$A Survey of Position Trackers ^WPresence, a publication of the Center for Research in Journalism and Mass CommunicationK Chapel Hill, NC USA0 6/The University of North Carolina at Chapel Hilll1S2173-200tracking  Mine, Mark R. 1993LECharacterization of end-to-end delays in head-mounted display systems Chapel Hill, NCa RKDepartment of Computer Science, University of North Carolina at Chapel Hills 11 pph March 1993Technical reportTR93-001Tracking'leDepartment of Computer Science University of North Carolina at Chapel Hill Chapel Hill, NC 27599-3175*:4Molineros, Jose Raghavan, Vijaimukund Sharma, Rajeev 1998d^Computer vision based augmented reality for guiding and evaluating assembly sequences (poster)$Proceedings of IEEE VRAIS '98-  Atlanta, GA 214-14-18 March 1998Tracking no paper copy  Mulder, Axel 1994("Human Movement Tracking Technology 4.School of Kinesiology, Simon Fraser University16 JulyTechnical Report Human Movement TrackingTR 94-1trackingfile:///Wallace/Users/Greg/Documents/Projects/Tracker/related%20papers/HMTT.pub.pdf http://www.cs.sfu.ca/~amulder/personal/vmi/HMTT.pub.html ftp://fas.sfu.ca/pub/cs/graphics/vmi/HMTT.pub.ps.gz Mulder, Axel 19944-Human Movement Tracking Technology: Resourcesx 4.School of Kinesiology, Simon Fraser University 2000 September 15 May 8, 1998P HTML Human Movement TrackingTtrackingvoWeb version of technical report ftp://fas.sfu.ca/pub/cs/graphics/vmi/HMTT.pub.ps.Z (also in bibliography list).SRLhttp://www.cs.sfu.ca/people/ResearchStaff/amulder/personal/vmi/HMTT.add.html Mulder, Axel 1998("Human Movement Tracking Technology 4.School of Kinesiology, Simon Fraser University 2000 September 15 May 8, 1998 HTML Human Movement Tracking`trackingvoWeb version of technical report ftp://fas.sfu.ca/pub/cs/graphics/vmi/HMTT.pub.ps.Z (also in bibliography list).aRLhttp://www.cs.sfu.ca/people/ResearchStaff/amulder/personal/vmi/HMTT.pub.html,%Nardone, Steven C. Aidala, Vincent J. 1981F?Observability criteria for bearings-only target motion analysis8<5IEEE Transactions on Aerospace and Electronic Systemsr AES-172r162-166e March 1981Tracking Nash, Jim 1997Wiring the jet set Wiredm5 10128-135l October 1997Tracking no paper copy{ 82Nayar, Shree K. Watanabe, Masahiro Noguchi, Minori 1994"Real-time focus range sensor  New York, NY :3Department of Computer Science, Columbia University\31 November 19940 paper0 CUCS-028-94Tracking'PIEmail: nayar@cs.columbia.edu nabe@cs.columbia.edu noguchi@cs.columbia.edu2 NDI 2001OPTOTRAK Northern Digital Inc.. 2001 Aprilr HTML,%http://www.ndigital.com/optotrak.html0<6Nebot, Eduardo, M. Durrant-Whyte, Hugh, F Scheding, S. 1988LFFrequency domain modelling of aided GPS for vehicle navigation systems&Robotics and Autonomous Systems251 73-82February-October.(information theory tracking localizationPosition information P obtained from standard global positioning system (GPS) receivers is known to be corrupted with colored (time-correlated) noise. To make effective use of GPS information in a navigation system it is essential to model this colored noise and to incorporate additional sensing to de-correlate and eliminate its effect. In this paper frequency domain techniques are employed to generate a model for GPS noise sources. This model shows clearly what type and combination of additional sensor information is necessary to de-correlate GPS errors and to make best use of position information in navigation tasks. The frequency-domain methodology proposed has wider application in the design of sensor suites for high-performance navigation systems. Experimental results are presented demonstrating the method in fusing standard GPS latitude and longitude information with information from a velocity sensor.&Frequency Domain Modeling of AiNebot, Eduardo, M. 1999,&Sensors Used for Autonomous Navigation Syros G. Tzafestas0*ADVANCES IN INTELLIGENT AUTONOMOUS SYSTEMS >7Kluwer Academic Publisher (Dordrecht / Boston / London)l135-156 "tracking information theorysISBN 0-7923-5580-6QO& Azarbayejani, Ali Pentland, Alex 1995B;Recursive Estimation of Motion, Structure, and Focal Length<5IEEE Trans. Pattern Analysis and Machine Intelligence176562-575 June,&Kalman filter tracking autocalibration tr-243.pdf & Azarbayejani, Ali Pentland, Alex 1995<5Camera self-calibration from one point correspondence\ MIT Media Laboratory0)Perceptual Computing Technical Report 341nTracking}From top: MIT Media Laboratory, Perceptual Computing Technical Report #341 Submitted to the IEEE Symposium on Computer Vision'RKMedia Laboratory Massachusetts Institute of Technology Cambridge, MA 02139o $Azarbayejani, A. Pentland, A.c 1996f_Real-time self-calibrating stereo person tracking using 3-D shape estimation from blob features\  Cambridge, MAi 2+Massachusetts Institute of Technology (MIT) January 1996Technical report 363TrackingFrom top: MIT Media Laboratory, Perceptual Computing Technical Report #363 January 1996, Appears in: ICPR'96 Vienna, Austria August 1996n "Azuma, Ronald T. Ward, Markh 1991ZTSpace-Resection by Collinearity: Mathematics Behind the Optical Ceiling Head-Tracker Chapel Hill, NC USA 2+University of North Carolina at Chapel Hill 23NovemberTechnical Report 91-048trackingAt SIGGRAPH '91, UNC Chapel Hill demonstrated an electro-optical tracking system for Head-Mounted Displays that can track a user inside a room-sized volume. The mathematics that the system uses to compute the position and orientation of the user's head is based on a photogrammetric technique called space resection by collinearity. This paper gives a detailed description of this technique and its behavior in our working system.:4http://www.cs.unc.edu/~azuma/azuma_publications.html'HRL Laboratories Loc. MA, Bldg. 254, MS RL96 3011 Malibu Canyon Road Malibu, CA 90265-4799 azuma@HRL.com Office: (310) 317-5151 Fax: (310) 317-5695pAzuma, Ronald T. 19932+Tracking Requirements for Augmented Reality Communications of the ACM ("Association of Computing Machinery367 50-51 July tracking augmented reality:4http://www.cs.unc.edu/~azuma/azuma_publications.html'HRL Laboratories Loc. MA, Bldg. 254, MS RL96 3011 Malibu Canyon Road Malibu, CA 90265-4799 azuma@HRL.com Office: (310) 317-5151 Fax: (310) 317-5695d$Azuma, Ronald T. Bishop, Gary 1994NGImproving Static and Dynamic Registration in an Optical See-Through HMDoComputer Graphics Orlando, FL USA ACM Press, Addison-Wesleyr197-204F?Annual Conference on Computer Graphics & Interactive Techniques0("SIGGRAPH 94 Conference Proceedings July 24-29 tracking augmented realityf_In Augmented Reality, see-through HMDs superimpose virtual 3D objects on the real world. This technology has the potential to enhance a user's perception and interaction with the real world. However, many Augmented Reality applications will not be accepted until we can accurately register virtual objects with their real counterparts. In previous systems, such registration was achieved only from a limited range of viewpoints, when the user kept his head still. This paper offers improved registration in two areas. First, our system demonstrates accurate static registration across a wide variety of viewing angles and positions. An optoelectronic tracker provides the required range and accuracy. Three calibration steps determine the viewing parameters. Second, dynamic errors that occur when the user moves his head are reduced by predicting future head locations. Inertial sensors mounted on the HMD aid head-motion prediction. Autocalibration methods measure the orientation of these sensors. Accurate determination of prediction distances requires low-overhead operating systems and eliminating unpredictable sources of latency. On average, prediction with inertial sensors produces errors 2-3 times lower than prediction without inertial sensors, and 5-10 times lower than using no prediction at all. Future steps that may further improve registration are outlined.5:4http://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) 317-5695p 5 HXthis working., Some very cool ideas using spread spectrum signaling between nearby devices. Each can determine the range between itself and another unit. Unknown as to whether or not they ever gotD Thomas, S. W.Thompson, E. H.MThrun, SebastianTowles, Hermantried, This is a summary of many different systems Honeywell tried in order to track the position and orientation of a pilot's helmet in a fighter plane. They pretty muchUxTrucco, Emanuele( Tsai, R.Y.\5Tuceryan, Mihran Tung, F.6 Tzafestas, SGTzafestas, Syros G.Tzanetakis, GeorgeEHUhlmann, Jeffrey, K.x Ullmer, BryggUNC Tracker ProjectBUnderkoffler, John(#University of Utah Computer Science\Ursella, EnricoM Usoh, MartinVallino, James R.Van Belle, RonnyxVan Brussel, H.Mvan Dam, Andries(van der Schaaf, A.xVan Pabst, J. V. L.ڨVanhala, Jukka*_(Vankatesh, SvethaVarona, Jordi Gonzalez Vedula, S.5 Verplaetse, Christopher James$Verplaetse, Christopher, JamesVerri, AlessandroVery poorly written, but the idea is a very interesting application of spread spectrum technology to tracking. Lights surrounded by clear rotating cylinders. A binary Gold code sequence is printed on the cylinders.6jVetterling, William T.Vicci, Leandra Vieville, T.Villanueva, Juan J.MViswanathan, S.VRPNWallmark, J. T. Walsh, T. R.Wang, Jih-Fang Ward, Markj Ware, ColinuWarnekar, C. S.MWatanabe, KajiroWatanabe, MasahiroM Weaver, Josh Weber, Hans Webster, A.Wefald, Knut M.MWeill, Lawrence, R. Welch, Gregj Welch, P.D.jxuwell., Really good introduction to Kalman filters. It's a very readable book and the Matlab exercises are useful as West, GeoffuWhitaker, RossMWhitaker, Ross T.White, Phillip R.Whitted, TurnerWhitton, Mary C.Wienclaw, Ruth A.Wildes, Richard P.MWill, Craig A.MWilliams, S. B. WindowH6 Window, VRWloka, Mathhhias M.hWoltring, H. J. Wood, Daniel N.@ Xu, L-Q.Yamamoto, HiroyukiM Yang, Guo-Ben Yang, Ruigangyet., Haven't read it You, S.`6 You, Suya Young, L.R.jYoungblut, Christine Yun, WeijieuZacharias, G.L.Zavracky, P. M.Zheng, JiannanT Zikan, K. Zikan, Karel Zyda, M. J.5 Zyda, Michael 6( 8Colucci, D'nardo Conati, F. u Cook, Perry5Corporation, Analogus Council, National ResearchCrampton, ChrisM Crane, D. F.Crowley, J. L.MCruz-Neira, CarolinaCurless, Brian@Curtis, W., D.] Cutts, MattjCutts, MatthewUTDaily, Michael J. Dalrymple, G.Damianakis, StefanosH Daniel, R. uDaniilidis, Kostas1kDarrell, TrevorM David, PhilipDe Geeter, JanMDe Schutter, J.M Decreton, M.Deering, Michael F.IHDeFanti, Thomas A. Demazeau, Y. Deng, X. Deyst, J., J.Di Bernardo, EnricoMDiMarzio, C. A.Dissanayake, MWMG$!Division, Systron Donner Inertail$!Division, Systron Donner Inertial Donath, MaxuDonner, Systron( Dorsey, JulieDowski, Edward, R.Dowski, Edward, R., Jr.V0 Drane, C., R.Drettakis, George Duchamp, Tom Duman, I. Duran, Joe uDurlach, Nathanial'MDurlach, NathanielMDurrant-Whyte, Hugh, FV0Durrant-Whyte, Hugh, F.V0Dyer, Charles, R.Eklundh, Jan-Olof Ellis, S. R.Ellis, Stephen R. Emura, S. Emura, SatoruEssa, Irfan A.M Essl, Georg5Etienne-Cummings, Ralph Eyles, Johnj Eyster, CyrusFacao, P.E.D.S.MFalconer, David G.M Farid, HanyjFaugeras, Olivier Feder, H.J.S.Feiner, StevenFeiner, Steven K. Ferrigno, G.Ferrin, Frank J.(Finkelstein, Adam Fischer, P.uFischler, M.A.Fisher, Scott S.Fitzmaurice, George, W.H`Flannery, Brian P.fڨFleming, Robert_(Focus SoftwareFoley, James D.( Fox, Dieter5 Foxlin, Eric Frey, WilliamFrezza, RuggeroM Friedman, M. Friedmann, M.Frye, William E.Fuchs (Foxlin), Eric Fuchs, HenryFuhrmann, AntonMFunkhouser, Thomas Ganapathy, S.Ganapathy, SundaramM Garrett, BillGarrett, Richard E.M Gelb, A.Gervautz, MichaelGibbens, P. W. Gillis, J. T.Glassner, AndrewGolding, Andrew R.uGoncalves, LuisM Gong, Kai F.Gorkani, MonikaMGoshtasby, A. Ardeshir&Gottschalk, Stefanfڨ Green, M.Greenburg, DonaldGreer, Douglas S.Grewal, Mohinder S.ڨGrewal, Mohinder, S.Griffin, Michael J.MGRISMORE, JOHNf Guivant, J.(Hallaway, DrexelHam, Fredric M.MHamilton, W. R.MHammel, Sherry E.Hansen, Charles|xHanson, Allen R. Haro, AntonioHarrington, Michaelڨ Hartmann, K.Hassibi, Babak He, Zhu Held, RichardHerring, Thomas A.M Hill, P. D.u Hilliar, J.5 Hillis, DavidHirota, GentaroMHoff, Bruce R.Hoff, William A. Hohl, FritzHollerbach, J.M.hHollerer, TobiasHolloway, RichardHolloway, Richard LeeHorn, Berthold K. P.Housel, TimothyEHHowe, Roger T.MHllerer, TobiasHuang, Thomas S.Hughes, John F.Hwang, Patrick Y. C. Ickes, B. P.IGT Iltanen, MikaImage Guided TechnologiesImielinski, T. Impedovo, S. Inigo, R. M. Intersense Irani, MichalIshii, HiroshiȯTJacobs, Marco C.Jacobs, O.L.R. Jacoby, R. H. Janin, A., L. Janin, AdamuJansen, F., W.d Jaynes, Chris Jebara, Tony Jense, G. J..8 XQWang, Jih-Fang Azuma, Ronald T. Bishop, Gary Chi, Vernon Eyles, John Fuchs, Henrys 1990\UTracking a Head-Mounted Display in a Room-Sized Environment with Head-Mounted Cameras^WSPIE 1990 Technical Symposium on Optical Engineering and Photonics in Aerospace Sensing*  Orlando, FL SPIE 1290 47-57 Helmet-Mounted Displays II April 16-20,trackingThis paper presents our efforts to accurately track a Head-Mounted Display (HMD) in a large environment. We review our current benchtop prototype (introduced in [WCF90]), then describe our plans for building the full-scale system. Both systems use an inside-out optical tracking scheme, where lateral-effect photodiodes mounted on the user's helmet view flashing infrared beacons placed in the environment. Church's method uses the measured 2D image positions and the known 3D beacon locations to recover the 3D position and orientation of the helmet in real-time. We discuss the implementation and performance of the benchtop prototype. The full-scale system design includes ceiling panels that hold the infrared beacons and a new sensor arrangement of two photodiodes with holographic lenses. In the full-scale system, the user can walk almost anywhere under the grid of ceiling panels, making the working volume nearly as large as the room.l: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) 317-5695.'Wang, Jih-fang Chi, Vernon Fuchs, Henryv 1990F?A Real-time Optical 3D Tracker for Head-mounted Display Systemsg*$Symposium on Interactive 3D Graphics  Snowbird, UT ACM Press, Addison Wesley 24 (2)205-215."I3D 90 Symposium Proceedings March 25-28trackingRKWard, Mark Azuma, Ronald T. Bennett, Robert Gottschalk, Stefan Fuchs, Henry 1992^WA Demonstrated Optical Tracker With Scalable Work Area for Head-Mounted Display Systems*$Symposium on Interactive 3D Graphics Cambridge, MA USA ACM Press, Addison-Wesley 43-52$I3D 99 Conference ProceedingsMarch 29 - April 1tracking,&An optoelectronic head-tracking system for head-mounted displays is described. The system features a scalable work area that currently measures 10' x 12', a measurement update rate of 20-100 Hz with 20-60 ms of delay, and a resolution specification of 2 mm and 0.2 degrees. The sensors consist of four head-mounted imaging devices that view infrared light-emitting diodes (LEDs) mounted in a 10' x 12' grid of modular 2' x 2' suspended ceiling panels. Photogrammetric techniques allow the head's location to be expressed as a function of the known LED positions and their projected images on the sensors. The work area is scaled by simply adding panels to the ceiling's grid. Discontinuities that occurred when changing working sets of LEDs were reduced by carefully managing all error sources, including LED placement tolerances, and by adopting an overdetermined mathematical model for the computation of head position: space resection by collinearity. The working system was demonstrated in the Tomorrow's Realities gallery at the ACM SIGGRAPH '91 conference.See also reference #307:4http://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) 317-5695 Structural Acoustics 5801 Lease Lane Raleigh, NC 27613 (919) 787-0887&Ware, Colin Balakrishnan, Ravin0 1994LETarget acquisition in fish tank VR: the effects of lag and frame rate1,%Proceedings of Graphics Interface '94e 1-7;TrackingNGConference in Banff, Alberta, 18--20 May 1994 At bottom: Reaching in 3Da& Warnekar, C. S. Schalkoff, R. J. 1982`YA predictor-corrector approach to tracking 3-D objects using perspective-projected imagess.(Proceedings of the IEEE Southeastcon '82371-384.TrackingRLSee also reference #309 Conference in Fort Walton Beach, Florida, April 1982:4Watanabe, Kajiro Kobayashi, Kazayuki Munekata, Fumio 19944-Multiple sensor fusion for navigation systems:JD1994 Vehicle Navigation & Information Systems Conference Proceedings IEEE575-578aTrackingAppears at top: D2-2 i$hf<eM$L>7Card, Stuart K. Mackinlay, Jock D. Robertson, George G.d 1991D=A Morphological Analysis of the Design Space of Input Devices92 99-122trackingThe market now contains a bewildering variety of input devices for communication from humans to computers. This paper discusses a means to systematize these devices through morphological design space analysis, in which different input device designs are taken as points in a parametrically described design space. The design space is characterized by finding methods to generate and test design points. In a previous paper, we discussed a method for generating the space of input device designs using primitive and compositional movement operators. This allowed us to propose a taxonomy of input devices. In this paper, we summarize the generation method and explore the use of device footprint and {Fitts}'s law as a test. We then use calculations to reason about the design space. Calculations are used to show why the mouse is a more effective device than the headmouse and where in the design space there is likely to be a more effective device than the mouse.Cavallaro, Rickt 1997.'The FoxTrax hockey puck tracking system IEEE CG&A 6-12March - April 1997Tracking no paper copyo Chi, Vernon L. 1995pjNoise Model and Performance Analysis Of Outward-looking Optical Trackers Using Lateral Effect Photo Diodes Chapel Hill, NC USAh 0*University of North Carlina at Chapel Hill April "Noise & Performance of LEPDSTR95-012trackingChou, Jack C. K. 19920*Quaternion kinematic and dynamic equations2,IEEE Transactions on Robotics and Automation81 53-64 February 1992rTrackingIEEE Log Number 9104191mAnalogus Corporation 2001"Gypsy Motion Capture System Analogus Corporation 2001March 7 2000 HTMLProduct brochure\Uhttp://www.metamotion.com/gypsy-motion-capture-system/gypsy-motion-capture-system.htm National Research Council\ 1994>8Virtual Reality, Scientific and Technological Challenges Washington, DC National Academy PressTracking Crane, D. F. 1980The effects of time delay in man-machine control systems: Implementations for design of flight simulator-display-delay compensationl IMAGE III <6Williams AFB, AZ: Air Force Human Resources Laboratory331-343Tracking"Crowley, J. L. Demazeau, Y. 199360Principles and Techniques for Sensor Data Fusion"Signal Processing (EURASIP)32 5-27Tracking :3Darrell, Trevor Azarbayejani, Ali Pentland, Alex P.1 1994JDSegmentation of rigidly moving objects using multiple Kalman filters  Cambridge, MA 2+Massachusetts Institute of Technology (MIT)1Technical report 2811TrackingFrom top: M.I.T. Media Laboratory Vision and Modeling Group Technical Report No. 281 Appeared, Proc. Wkshp. Performance vs. Methodology in C.V., CVPR-94'yPerceptual Computing Group The Media Laboratory Massachusetts Institute of Technology 20 Ames Street Cambridge, MA 02139VjV`LF"$Hoff, William A. Nguyen, Khoid 1996JCComputer vision-based registration techniques for augmented reality D>Proceedings of Intelligent Robots and Computer Vision XV, SPIE  Boston, MA 2904538-548-18-22 November 1996Tracking no paper copysNGFritz Hohl Uwe Kubach Alexander Leonhardi Kart Rothermel Markus Schwehm 1999b\Next century challenges: Nexus--an open global infrastructure for spatial-aware applicationsXQFifth Annual ACM/IEEE International Conference on Mobile Computing and Networking 249255$tracking NGFritz Hohl Uwe Kubach Alexander Leonhardi Kart Rothermel Markus Schwehm  1999JDNexus - An open global infrastructure for spatial-aware applications 13 ppJanuary 25, 1999 paper8TrackingSee also reference #39NGFritz Hohl Uwe Kubach Alexander Leonhardi Kart Rothermel Markus Schwehm 1999b\Next century challenges: Nexus--an open global infrastructure for spatial-aware applicationsXQFifth Annual ACM/IEEE International Conference on Mobile Computing and Networking 249255trackingSee also reference #40Holloway, Richard LeeG 199560Registration Errors in Augmented Reality Systems$Department of Computer Science Chapel Hill, NC, USA 2+University of North Carolina at Chapel HillG 242 leavesPh.D. Dissertation TR95-01682http://www.cs.unc.edu/~holloway/Dissertation.ps.gz$tracking Holloway, Richarde 199781Registration error analysis for augmented realityd60Presence: Teleoperators and Virtual Environments64413-432 August 1997Tracking no paper copyTMHllerer, Tobias Feiner, Steven Terauchi, Tachio Rashid, Gus Hallaway, Drexel 1999hbExploring MARS: developing indoor and outdoor user interfaces to a mobile augmented reality systemComputers & Graphics236779-785 Exploring MARS tracking augmented realityfile:///Wallace/Users/Greg/Documents/Projects/General/augmented%20reality/related%20papers/Comp&Graph_v23i6Dec99/Hollerer99_ExploringMARS.pdfo*#Huang, Thomas S. Netravali, Arun N.d 1994B;Motion and structure from feature correspondences: a revieweProceedings of the IEEE82252-267tTrackingIEEE Log number 9214859 Ickes, B. P. 1970b[A new method for performing digital control systems attitude computations using quaternions6 AIAA Journal5.1  13-17 January 1970TrackingPresented as Paper 68-825 at the AIAA Guidance, Control, and Flight Dynamics Conference, Pasadena, California, August 12-14, 1968 IGT 2000FlashPoint 5000 Image Guided Technologies\ 2000 September 15 HTMLtracking"http://www.imageguided.com/\nhOptical Positioning and Tracking System for a Head Mounted Display Based on Spread Spectrum TechnologyRLProceedings of the 2nd International Conference on Machine Automation (ICMA)>8Mika Iltanen Heikki Kosola Karri Palovuori Jukka Vanhala 1998597--608Very poorly written, but the idea is a very interesting application of spread spectrum technology to tracking. Lights surrounded by clear rotating cylinders. A binary Gold code sequence is printed on the cylinders. Inigo, R. M. McVey, E. S. 1981HBCCD Implementation of a three-dimensional video-tracking algorithmD>IEEE Transactions on Pattern Analysis and Machine Intelligence PAMI-32i230-240n March 1981yTracking Affine parameter and scene vectors Affine transformations CCD implementation Image processing Tracking algorithmi Intersense, 2000Intersense IS-900  Intersense 2000April 27 html IS-900.(tracking inertial acoustic Kalman filterhttp://www.isense.com/0*Irani, Michal Rousso, Benny Peleg, Schmuel 19974-Recovery of ego-motion using region alignmentD>IEEE Transactions on Pattern Analysis and Machine Intelligence193 6 pp March 1997 PAMI 97TrackingJacobs, O.L.R. 1993$Introduction to Control Theory Oxford University Press 390` Second 0-19-856248-9 bFcontrol theory stochastic estimation and control Kalman filtertracking A^SPR^ Azuma, Ronald T. 19950)Predictive Tracking for Augmented Realityc Chapel Hill, NCp RKUniversity of North Carolina at Chapel Hill, Department of Computer ScienceeFebruaryTR95-007Tracking.'See also reference #28 for dissertation'LECB # 3175, Sitterson Hall/UNC-Chapel Hill/Chapel Hill, NC 27599-3175nAzuma, Ronald T. 1995$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 #145N$Azuma, Ronald T. Bishop, Gary 1995<5A Frequency-Domain Analysis of Head-Motion PredictionComputer Graphicsr Los Angeles, CA ACM Press, Addison-Wesley401-408F?Annual Conference on Computer Graphics & Interactive Techniqueso("SIGGRAPH 94 Conference Proceedings July 24-29 tracking augmented realityThe use of prediction to eliminate or reduce the effects of system delays in Head-Mounted Display systems has been the subject of several recent papers. A variety of methods have been proposed but almost all the analysis has been empirical, making comparisons of results difficult and providing little direction to the designer of new systems. In this paper, we characterize the performance of two classes of head-motion predictors by analyzing them in the frequency domain. The first predictor is a polynomial extrapolation and the other is based on the Kalman filter. Our analysis shows that even with perfect, noise-free inputs, the errorin predicted position grows rapidly with increasing prediction intervals and input signal frequencies. Given the spectra of the original head motion, this analysis estimates the spectra of the predicted motion, quantifying a predictor's performance on different systems and applications. Acceleration sensors are shown to be more useful to a predictor than velocity sensors. The methods described will enable designers to determine maximum acceptable system delay based on maximum tolerable error and the characteristics of user motions in the application.:4http://www.cs.unc.edu/~azuma/azuma_publications.html'HRL Laboratories Loc. MA, Bldg. 254, MS RL96 3011 Malibu Canyon Road Malibu, CA 90265-4799 azuma@HRL.com Office: (310) 317-5151 Fax: (310) 317-5695pAzuma, Ronald T. 1997$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 Z Y H9xXWjIVTUNHBailey, T. Nebot, Eduardo, M. Rosenblatt, J. K. Durrant-Whyte, Hugh, F. 1999@9Robust distinctive place recognition for topological maps-F?International Conference on Field and Service Robotics (FSR 99) Pittsburgh, PA USA August 29-31localization tracking9Topological maps provide a compact and flexible method for mobile robot navigation without the requirement of high precision localisation or pre-planned trajectories. They represent an environment as a graph where each node of the graph is a distinctive place and each edge describes the path between two distinctive places. A distinctive place is a location in the environment which is distinguishable from other places on the basis of patterns observable in sensory data. The main difficulty with topological maps is that reliable distinctive place recognition has been hard to attain except in very simple, structured environments. Even in these environments, failure to recognise a place and false place recognition have been major problems. This paper discusses a method for recognising distinctive places, defined here as a set of features observed from a particular vehicle pose (position and orientation). Distinctive place recognition is achieved by extracting features from sensory data and matching their relative geometry to the relative geometry of the features stored in the topological map. If the observed features match those of a distinctive place, then the pose of the robot relative to the distinctive place pose is determined. Experimental results obtained with a 2D scanning laser on a mobile robot platform demonstrate that this method is robust to dynamic objects, occlusions and varied viewpoints.&Bajura, Michael Neumann, Ulrichr 199582Closed-Loop Tracking for Augmented-Reality Systems,%IEEE Computer Graphics & Applicationsl155 52-60September 1995Tracking&Bajura, Michael Neumann, Ulrich! 2001JDDynamic Compensation of Alignment Error in Augmented-Reality Systems 2001March 24, 2001 HTMLTracking<5http://www.usc.edu/dept/CGIT/papers/VRpose_94_022.pdfoBancroft, Stephen  19840*An algebraic solution of the GPS equations<5IEEE Transactions on Aerospace and Electronic Systemse AES-217 56-59 January 1985Tracking'81King Radio 400 North Rogers Road Olathe, KS 66062& Bar-Shalom, Yaakov Li, Xiao-Rong 1993D=Estimation and Tracking: Principles, Techniques, and Software Artec House, Inc. 511 0-89006-643-4*$Kalman filter sensor fusion tracking *#Baron, S. Lancraft, R. Caglayan, A. 1984ZSAn optimal control model approach to the design of compensators for simulator delaya  Cambridge, MAu "Bolt Beranek and Newman Inc. 111i October 1992NASA Contractor Report 3064 Flight simulation TrackingB;Prepared for Ames Research Center under Contract NAS2-10907Behringer, Reinholdt 1999rkRegistration for Outdoor Augmented Reality Applications Using Computer Vision Techniques and Hybrid Sensors\IEEE Virtual Reality Houston, TX, USA244-251, 13-17 March4.tracking inertial optical sensor sensor fusionRegistration for outdoor systems for Augmented Reality (AR) cannot rely on the methods developed for indoor use (e.g., magnetic tracking, fiducial markers). Although GPS and the earth's magnetic field can be used to obtain a rough estimate of position and orientation, the precision of this registration method is not high enough for satisfying AR overlay. Computer vision methods can help to improve the registration precision by tracking visual clues whose real world positions are known. We have developed a system that can exploit horizon silhouettes for improving the orientation precision of a camera which is aligned with the user's view. It has been shown that this approach is able to provide registration even as a stand-alone system, although the usual limitations of computer vision prohibit to use it under unfavorable conditions. This paper describes the approach of registration by using horizon silhouettes. Based on the known observer location (from GPS), the 360 degree silhouette is computed from a digital elevation map database. Registration is achieved, when the extracted visual horizon silhouette segment is matched onto this predicted silhouette. Significant features (mountain peaks) are cues which provide hypotheses for the match. Several criteria are tested to find the best matching hypothesis. The system is implemented on a PC under Windows NT. Results are shown in this paper. "Behringer_regForOutdoor.pdfe,%Bell, Bradley M. Cathey, Frederick W. 1993@:The iterated Kalman filter update as a Gauss-Newton method,&IEEE Transactions on Automatic Control382d294-297 February 1993 TrackingRoland E. Best 1999>8Phase-Locked Loops: Design, Simulation, and ApplicationsHaven't read it yet. Bhatnagar, Devesh Kumar 1993B8Pictorial Communication in Virtual and Real Environments Taylor and Francis 28-1 - 28-16TrackingAt top: N90-22944gHerring, Thomas A. 1996$The global positioning systemoScientific American1 44-50  February 1996pTrackingHill, P. D. Walsh, T. R. 1992>7The advanced modular tracker: a real-time video trackers  Danvers, MAr Datacube, Inc.Document no. AB0008-1.0s August 1995 paper.Tracking<5Presented at Electronic Image International, 1 Oct 92Bp**-":Qp!F>Gj7 !q) W|$ڗNLտ??>}ԅ4STQ9x3NjCN]0BW*Pr UF'3RԾ5yBp;,H2Uc xCްD!WuDυJlK#ZYCAWEd ֟N&"7ۿU)D,)6\N:ezvr>!9|O6JJr0ŻD:-?bTI"GfMClJtk-zPANL*b"烙dKXDWWs!8ԃ)5drʦ[L0 !ٯHktG $!$._G00bt9ld! ͻB8IAf\C T{U~Z9y!Hki΃lCk,6 }) ɾBN#_ƔB\{|~rpnA0&řs+vҨX*@Op*!ŜC>D^XXY/%C_uscjwA~-Ru5NuY> Jq'!( $rkX >g&!ą_&GlV:V@60 !NMr ,fo_WN;&!U_#H`hlS')߲]'Y]!ć B_/\Ypb?1siߥ>CѮD'ReF ?H'Zݥ=GŭH`|#HzA$kMgHB|{7lvhvM#1B#a8BΥo1l@t%59Ldn}+xQ``<%0[ s!ı||yTu q!đU o.ZH -47f֐gBi-ڢ 8TaOVboOORcSY1L㊐x:DPFRTѴ'@x|*| B|yxl()iYhaDB(ljg|3Θ9aGMq-=+_Jio@z-ZZ~]2Kt 9Uit3x;']NKCߝ@Y||#"+=d`B7The Science of Virtual Reality and Virtual Environments8 (!Addison-Wesley Publishing Company 405 First 0-201-63171-71@:tracking virtual environments Interactive computer systems Kalman, R.E. 1960@:A New Approach to Linear Filtering and Prediction Problems:4Transaction of the ASMEJournal of Basic Engineering82Series D 35-45 March "A New Approach to FilteringbFKalman filter stochastic estimation and control control theorytracking $ X Kanade, Takeol$Very fast 3-D sensing hardware 15 ppdPre-published paperTrackingReference to published form made in: http://www.cs.cmu.edu/afs/cs/usr/tk/www/Projects_www/RepVis/RepVis.html T. Kanade. Very Fast 3-D Sensing Hardware. In Sixth International Symposium of Robotics Research, pages 185--198, 1993  Kaplan, Elliot D. (Editor) 19964-Understanding GPS Principles and Applications  Artech HouseTracking<6Kim, Dohyung Richardst, Scott, W. Caudellt, Thomas, P. 1997F?An Optical Tracker for Augmented Reality and Wearable ComputersaF?1997 Virtual Reality Annual International Symposium (VRAIS '97) Albuquerque, NM- IEEE146-1501-15 March 1997e0-8186-7843-7/972,tracking augmented reality Computer graphicsrlAugmented Reality provides factory workers and other touch laborers with visual information overlaid upon the workcell to aid in the performance of their tasks. This application of virtual reality technology requires high accuracy, wearable, tetherless, inexpensive, mechanically robust, and light weight head tracking systems that operate in a highly noisy environment. This paper describes a prototype head tracking system, currently under development and testing, that is based on one small lensless quad-cell detector and a set of fixed location, active optical beacons, that can potentially meet these requirements.Kim97_optical.pdf\' Dohyung Kim?, Scott W. Richardst, Thomas P. Caudellt Wept. of Electrical Engineering University of Washington Seattle, WA tInterdisciplinary Computational Systems Laboratory Dept. of Electrical & Computer Engineering University of New Mexico Albuquerque, NM 87 13 1 tpc@eece.unm.edu$Kite, David H. Magee, Michaelt 1990^WDetermining the 3D position and orientation of a robot camera using 2D monocular visionPattern Recognition}238819-831r@9Spatial reasoning Monocular vision Standard mark Tracking}Klinker, Gudrun J. Ahlers, Klaus H. Breen, David E. Chevalier, Pierre-Yves Crampton, Chris Greer, Douglas S. Koller, Dieter Kramer, Andre Rose, Eric Tuceryan, Mihran Whitaker, Ross T.l 1997RLConfluence of computer vision and interactive graphics for augmented reality60Presence: Teleoperators and Virtual Environments64433-451 August 1997Tracking no paper copy Kolasinski, Eugenia M. 19950*Simulator sickness in virtual environments Alexandria, VA JCU.S. Army Research Institute for the Behavioral and Social Sciencest 47 ppiMay 1995Technical report 1027Tracking& Army project number 2O262785A791\VKoller, Dieter Klinker, Gudrun Rose, Eric Breen, David Whitaker, Ross Tuceryan, MihranPIReal-time vision-based camera tracking for augmented reality applications 8 ppPre-published paperTrackingSee also reference #285\VKoller, Dieter Klinker, Gudrun Rose, Eric Breen, David Whitaker, Ross Tuceryan, Mihran 1997b[Automated camera calibration and 3D egomotion estimation for augmented reality applications\hbProceedings of the CAIP '97, 7th International Conference Computer Analysis of Images and Patterns199-2060TrackingRKConference in Kiel, Germany, September 10-12, 1997. See also reference #283a x 3rdTech2000 Adelstein1999H Agar1968 Ahlers19977I Aidala1979 Aidala19811J Aidala1983Akatsuka1998(8Aldinger2000 Allen1995 Altshuler1998T Andrews1993 Andrews2001 Andrews2001 Antonsson1983L Antonsson1989 Applewhite1991 Applewhite1992 Ardaman1992 Ascension2000, Atkeson1985M Ator1963N Ator1966 Ayer19949 Ayer19959P Azarbayejani1994i Azarbayejani1994 Azarbayejani19954O Azarbayejani1995,Q Azarbayejani19960 Azuma1990 Azuma1991 Azuma1992 Azuma1993 Azuma1994@ Azuma1995R Azuma1995S Azuma1995 Azuma1995A Azuma1997 Azuma1998 Azuma1999 Azuma19997 Azuma19998 Azuma1999 Azuma1999 Azuma19998 Azuma2000Bachmann1999Bachmann2000 Bailey1999U Bajura1995T Bajura2001 Balakirsky1990 Balakrishnan1994@VBancroft1984a Banner1994I Bar-Shalom1993s Barnes19939W Baron1984Baumeler19999 Behringer1999 Bekey1998X Bell1993 Bennett19929 Best1999 Bhatnagar1993YBible Biocca19911 Biocca19921Z Bishop  Bishop1984 Bishop1984 Bishop1990 Bishop1994q Bishop1995  Bishop19950 Bishop1997 Bishop19979 Bishop199883 Bishop19992 Bishop20014 Bishop2001  BL2000 Blood1979H Blythe1968[ Bolles1981# Bolles19818\ Bordtad1985]Borghese1990o Bose1985^ Bouget1997Breen Breen1997 Breen1997 Breen1997/ Britannica1994F_ Broida1986 Browder1992~ Brown1983K Brown1992 Brown1996; Brown1997` Brugger19783Brumback1999.4Brumback2001a Bruss1981Y Brutzman Bryson1992 Bui2000  Burdea1994* Burgard1998 Burgard1999 Burton1973 Burton1974WCaglayan1984a[ Cain19819 Cannon19988L Card1991X Cathey1993Caudellt19977 Cavallaro1997_ Chellappa1986 Chen19969 Chevalier1997 Chi1990 Chi1990M Chi1995 Chi1998 Cho1996e Chou1992 Clergue1993Cockayne1996 Coiffet19943 Colucci19994 Colucci2001 Conati19839< Corporation2001f Council1994Crampton19977 Crane1980h Crowley19938 Curless2000 Curtis1994 Daily1998 Dalrymple1983+ Daniel19900i Darrell1994 David1990 De Geeter1996 De Schutter1996Decreton19969( Deering1992hDemazeau1993r Deyst1968 Di Bernardo1995  Dissanayake1998' Dissanayake1999 Dissanayake2000lDivision2001 Donath198980 Donner2001 Dowski1995 Drane19928 Duchamp2000 Duman1999w Duran1977 Durlach1991 Durlach1994m Durlach1994" Durrant-Whyte1988 Durrant-Whyte1995e1995ant-Whyte1995Whyte199595959595e1995rrant-Whyte1995 Durrant-Whyte1995 Durrant-Whyte1995 Durrant-Whyte1995 Durrant-Whyte1998 Durrant-Whyte1998Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998Durrant-Whyte1998Durrant-Whyte1998 Durrant-Whyte1998rrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998 Durrant-Whyte1998Durrant-Whyte1998 Durrant-Whyte1998rrant-Whyte1998 Durrant-Whyte1998Durrant-Whyte1998Durrant-Whyte1998Durrant-Whyte1998 Durrant-Whyte1998f 20-100 Hz with 20-60 ms of delay, and a resolution specification of 2 mm and 0.2 degrees. The sensors consist of four head-mounted imaging devices that view infrared light-emitting diodes (LEDs) mounted in a 10' x 12' grid of modular 2' x 2' suspended ceiling panels. Photogrammetric techniques allow the head's location to be expressed as a function of the known LED positions and their projected images on the sensors. The work area is scaled by simply adding panels to the ceiling's grid. Discontinuities that occurred when changing working sets of LEDs were reduced by carefully managing all error sources, including LED placement tolerances, and by adopting an overdetermined mathematical model for the computation of head position: space resection by collinearity. The working system was demonstrated in the Tomorrow's Realities gallery at the ACM SIGGRAPH '91 conference.See also reference #307:4http://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) 317-5695n&Ware, Colin Balakrishnan, Ravin0 1994LETarget acquisition in fish tank VR: the effects of lag and frame rate1,%Proceedings of Graphics Interface '94e 1-7;TrackingNGConference in Banff, Alberta, 18--20 May 1994 At bottom: Reaching in 3Da& Warnekar, C. S. Schalkoff, R. J.`YA predictor-corrector approach to tracking 3-D objects using perspective-projected images 4 ppPreprintTracking<6At bottom: IEEE SOUTHEASTCON82 See also reference #310& Warnekar, C. S. Schalkoff, R. J. 1982`YA predictor-corrector approach to tracking 3-D objects using perspective-projected imagess.(Proceedings of the IEEE Southeastcon '82371-384.TrackingRLSee also reference #309 Conference in Fort Walton Beach, Florida, April 1982:4Watanabe, Kajiro Kobayashi, Kazayuki Munekata, Fumio 19944-Multiple sensor fusion for navigation systems:JD1994 Vehicle Navigation & Information Systems Conference Proceedings IEEE575-578aTrackingAppears at top: D2-2 Weber, HansP 1997F?Predictive Head Tracking Using a Body-centric Coordinate System 2+University of North Carolina at Chapel Hill 2001 January 21April 9VPhttp://www.cs.unc.edu/~weberh/research/predtrac.html Weber1997_pred_tracking.pdf$tracking & Wefald, Knut M. McClary, Charles 1984TNAutocalibration of a laser gyro strapdown inertial reference/navigation system IEEE 66-74Tracking  Welch, Greg 1995XQHybrid Self-Tracker: An Inertial/Optical Hybrid Three-Dimensional Tracking System Chapel Hill, NC, USA RKUniversity of North Carolina at Chapel Hill, Department of Computer ScienceiTR95-048$tracking  Welch, Greg Bishop, Gary 1995*$An Introduction to the Kalman Filter Chapel Hill, NC, USA RKUniversity of North Carolina at Chapel Hill, Department of Computer SciencelTR95-041$tracking p 5hHp3x.'Wangh-fang Chi, Vernon Fuchs, Henryv 1990F?A Real-time Optical 3D Tracker for Head-mounted Display Systemsg*$Symposium on Interactive 3D Graphics  Snowbird, UT ACM Press, Addison Wesley 24 (2)205-215."I3D 90 Symposium Proceedings March 25-28trackingIE 1x Helmetnted Displays II April 16-20This paper presents our efforts to accurately track a Head-Mounted Display (HMD) in a large environment. We review our current benchtop prototype (introduced in [WCF90]), then describe our plans for building the full-scale system. Both systems use an inside-out optical tracking scheme, where lateral-effect photodiodes mounted on the user's helmet view flashi