Tracking errors in augmented reality [Elektronische Ressource] / Martin A. Bauer

Technische Universitat Munchen, Institut fur Informatik¨ ¨ ¨Chair for Computer-Aided Medical Procedures & Augmented RealityTracking Errorsin Augmented RealityMartin A. BauerVollsta¨ndiger Abdruck der von der Fakulta¨t fu¨r Informatik der TechnischenUniversita¨t Mu¨nchen zur Erlangung des akademischen Grades eines Doktors derNaturwissenschaften (Dr.rer.nat.) genehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr. Hans Michael GerndtPrufer der Dissertation: 1. Univ.-Prof. Gudrun J. Klinker, Ph.D.¨2. Univ.-Prof. Nassir Navab, Ph.D.Die Dissertation wurde am 23.04.2007 bei der Technischen Universit¨at Mu¨ncheneingereicht und durch die Fakulta¨t fu¨r Informatik am 10.09.2007 angenommen.AbstractTracking is an important component of augmented reality systems. Track-ing means to determine and follow the position and orientation of an objectwith respect to some reference coordinate system over time. As with all phys-ical measurements the estimate is affected by errors. These errors propagatethrough the chain of transformations from the tracking systems to the finalapplication,until they appear as alignment errors in the augmented realityapplication.This thesis deals with the mathematical tools that are needed to estimatethefinalresultingprecision,aswellaswithvisualizationconceptsforexploringandunderstandingtrackingerrors.Thespecialcaseofopticaltrackingsystemsis further analyzed to provide useful initial estimates of the tracking error.