Optical tracking using projective invariant marker pattern properties

We describe a novel optical tracker algorithm for the tracking of interaction devices in virtual and augmented reality. The tracker uses invariant properties of marker patterns to efficiently identify and reconstruct the pose of these interaction devices. Since invariant properties are sensitive to noise in the 2D marker positions, an offline training session is used to determine deviations in these properties. These deviations are taken into account when searching for the patterns once the tracker is used.