Dynamic gyroscope fusion in Ubiquitous Tracking environments

Abstract

Ubiquitous tracking (Ubitrack) setups, consisting of many previously unknown sensors, offer many possibilities to perform sensor fusion in order to increase robustness and accuracy. In particular, the dynamic combination of mobile and stationary trackers enables the creation of new wide-area tracking concepts. In this work, we present a setup in which a gyroscope is dynamically fused with three different mobile and stationary sensors, based on the concepts of spatial relationship graphs (SRGs) and patterns. For this, we contribute new patterns that, based on well-known algorithms, enable the transformation of rotation velocity and the fusion with different absolute trackers. The usefulness of the approach is shown in a system that automatically reconfigures the SRG based on course tracking data, and, depending on the structure of this SRG, automatically selects a suitable fusion algorithm.