Title:
A Multi-Camera Pose Tracker for Assisting the Visually Impaired
A Multi-Camera Pose Tracker for Assisting the Visually Impaired
Author(s)
Dellaert, Frank
Tariq, Sarah
Tariq, Sarah
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Abstract
6DOF Pose tracking is useful in many contexts, e.g.,
in augmented reality (AR) applications. In particular,
we seek to assist visually impaired persons by providing
them with an auditory interface to their environment
through sonification. For this purpose, accurate head
tracking in mixed indoor/outdoor settings is the key enabling
technology. Most of the work to date has concentrated
on single-camera systems with a relatively small
field of view, but this presents a fundamental limit on the
accuracy of such systems. We present a multi-camera
pose tracker that handles an arbitrary configuration of
cameras rigidly fixed to the object of interest. By using
multiple cameras, we increase both the robustness
and the accuracy by which a 6-DOF pose is tracked.
However, in a multi-camera rig setting, earlier methods
for determining the unknown pose from three world-to-camera
correspondences are no longer applicable, as
they all assume a common center of projection. In this
paper, we present a RANSAC-based method that copes
with this limitation and handles multi-camera rigs. In
addition, we present quantitative results to serve as a
design guide for full system deployments based on multi-camera
rigs. Our formulation is completely general, in
that it handles an arbitrary, heterogeneous collection of
cameras in any arbitrary configuration.
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Date Issued
2005-06
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Text
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Post-print
Proceedings
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