VCIT - Visually Corrected inertial Tracking
ISSN der Zeitschrift
Gesellschaft für Informatik, Bonn
Many smart systems depend on exact models of their environment. These are gained by tracking objects in their surroundings. When a highly precise system is only available for a small part of the environment, it can be enhanced with a second system to recover the unknown parts. This paper presents a method to recover loss of a precise (optical) tracking system by a less precise (inertial) tracking system. First the rotation from the inertial measurement unit (IMU) and the optical system are aligned. A second step integrates the IMU acceleration two times and removes both times the drift by known initial and end values (first integration: velocity, second integration: position) from optical tracking. The error is backpropagated continuously.