1. Fundamentals of Ubiquitous Tracking for Augmented Reality Vienna University of Technology Joe Newman, Thomas Pintaric, Dieter Schmalstieg Technische Universität München Martin Wagner, Asa MacWilliams, Martin Bauer, Gudrun Klinker For more information email: jfn@ims.tuwien.ac.at

2. Joseph Newman December 19th - Studierstube Day III, 2003 Augmented Reality (AR) Rich and meaningful AR experience Rich and meaningful AR experience Wearable computing Wearable computing Graphics rendering,display technologies Graphics rendering,display technologies Spatial model of world Spatial model of world Up-to-date & coherent Up-to-date & coherent Requires trackers and special sensors Requires trackers and special sensors Parallels with UbiComp, but crucial difference Parallels with UbiComp, but crucial difference Motivation to look at a global approach to unifying different tracking systems Motivation to look at a global approach to unifying different tracking systems

3. Joseph Newman December 19th - Studierstube Day III, 2003 Ubiquitous Tracking Graph-based model Graph-based model Express spatial inter-relationships Express spatial inter-relationships Dynamically extendible tracker networks of trackers Dynamically extendible tracker networks of trackers High-precision, low latency requirements High-precision, low latency requirements Framework extensible: Framework extensible: New trackers, filtering schemes, optimisation criteria New trackers, filtering schemes, optimisation criteria

4. Joseph Newman December 19th - Studierstube Day III, 2003 Asdf A sdf World Model

5. Joseph Newman December 19th - Studierstube Day III, 2003 Asdf A S df Measured Relationships

6. Joseph Newman December 19th - Studierstube Day III, 2003 Inferred Relationships

7. Joseph Newman December 19th - Studierstube Day III, 2003 Fusion + other filtering “The use of multiple location systems simultaneously to form hierarchical and overlapping levels of sensing to increase accuracy beyond what is possible using any individual system”, Hightower New inference results in new edge in G(  New inference results in new edge in G(  Model other filtering schemes Model other filtering schemes Environmental knowledge Environmental knowledge Voronoi graphs Voronoi graphs Bayesian, particle filters, etc…. Bayesian, particle filters, etc….

8. Joseph Newman December 19th - Studierstube Day III, 2003 Relationship Modelling Representation Representation Not just homogeneous matrices Not just homogeneous matrices Pixel locations (x,y), 3D positions (x,y,z) Pixel locations (x,y), 3D positions (x,y,z) Accelerations and velocities Accelerations and velocities Attributes Attributes Latency, update frequency, confidence value, pose accuracy, Monetary cost, time-to-live Latency, update frequency, confidence value, pose accuracy, Monetary cost, time-to-live Difficult to obtain from proprietary devices Difficult to obtain from proprietary devices Slowly varying (compared to tracking data) Slowly varying (compared to tracking data)

9. Joseph Newman December 19th - Studierstube Day III, 2003

10. Joseph Newman December 19th - Studierstube Day III, 2003 Optical shared tracking Marker K need only be visible to a single camera Including other sensors extends range of possible inferences

11. Joseph Newman December 19th - Studierstube Day III, 2003

12. Joseph Newman December 19th - Studierstube Day III, 2003 Future Work Simulation Simulation Implementation Implementation Studierstube/OpenTracker Studierstube/OpenTracker DWARF components DWARF components Auto-calibration Auto-calibration Model small amounts of uncertainty Model small amounts of uncertainty Adaptive model Adaptive model Evaluation Evaluation

13. Joseph Newman December 19th - Studierstube Day III, 2003 Conclusion Theoretical framework describing tracking setups Theoretical framework describing tracking setups Inter-relationships modelled in a graph Inter-relationships modelled in a graph State spaces, attributes, error functions State spaces, attributes, error functions Extendible Extendible Maps to implementation of UbiTrack concepts (work in progress!) Maps to implementation of UbiTrack concepts (work in progress!) Partial standardisation of tracker setups Partial standardisation of tracker setups Formal approach towards ubiquity of AR Formal approach towards ubiquity of AR