6DOF Wireless Tracking Wand Using MARG and Vision Sensor Fusion

We present a low cost battery-powered 6-degree-of-freedom wireless wand for 3D modeling in free space by tri-axis Magnetic, Angular Rate, Gravity (MARG) and vision sensor fusion. Our approach has two stages of sensor fusion, each with different algorithms for finding 3D orientation and position. The...

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Bibliographic Details
Published in:International journal of distributed sensor networks 2014-01, Vol.10 (6), p.864768
Main Authors: Chintalapalli, Harinadha Reddy, Patil, Shashidhar, Nam, Sanghun, Park, Sungsoo, Chai, Young Ho
Format: Article
Language:English
Subjects:
Algorithms
Analysis
Cameras
Design
Design and construction
Engineering research
Eyes & eyesight
Gravitation
Human-computer interaction
Infrared radiation
Markers
Methods
Microelectromechanical systems
Motion capture
Orientation
Sensors
Systems design
Three dimensional
Vision
Wireless telecommunications equipment
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Summary:We present a low cost battery-powered 6-degree-of-freedom wireless wand for 3D modeling in free space by tri-axis Magnetic, Angular Rate, Gravity (MARG) and vision sensor fusion. Our approach has two stages of sensor fusion, each with different algorithms for finding 3D orientation and position. The first stage fusion algorithm, a complementary filter, utilizes MARG sensors to compute 3D orientation relative to the direction of gravity and earth's magnetic field in a quaternion format, which was adjusted with compensations for magnetic distortion. The second stage fusion algorithm, a Kalman filter, utilizes accelerometer data and IR marker velocity to compute 3D position. In order to compute the IR marker linear velocity along the optical axis (the z-axis), we present a simple and efficient image-based technique to find the distance of the object from the camera using blob area pixels in the image. Our fusion (inside-in and outside-in) approach efficiently solves short time occlusion, needs of frequent calibration, and unbounded drift problems involved in numerical integration of inertial sensors data and improves the degrees of freedom at low cost without compromising accuracy. The results are compared with a leading commercial magnetic motion tracking system to demonstrate the performance of the wand.
ISSN:1550-1477
1550-1329
1550-1477
DOI:10.1155/2014/864768