Miniaturization, calibration & accuracy evaluation of a hybrid self-tracker

We have previously presented a prototype of a novel vision/inertial hybrid self-tracker intended for AR, wearable computing and mobile robotics applications. In this paper we describe a new prototype of the system which has been greatly reduced in size, weight, power consumption and cost, while simultaneously improved in performance through careful calibration. We describe the calibration approach in detail and present results to show the high accuracy levels achieved for the camera calibration and for the integrated tracking system.