Computer vision based head tracking from re-configurable 2D markers for AR

This paper presents a computer vision based head tracking system for augmented reality. A camera is attached to a head mounted display and used to track markers in the user's field of view. These markers are movable on a table and used as interface with virtual objects. Furthermore, they are used as landmarks to track the user's viewpoint and viewing direction by a homography based camera pose estimation algorithm. By integrating this computer vision tracker with a commercially available InterSense tracker, we take the advantages of the small jitter of the former one without losing the tracking speed of the later one. For static and slow head motion the system has less than 0.3mm RMS of position jitter and 0.165 degrees RMS of orientation jitter.