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- W2787927323 abstract "This work proposes an algorithm to improve an existing positioning system in a virtual realityapplication. This existing system uses the inertial based XME (Xsense MVN engine) which is proneto drift. Drift is a real problem, because accidents can happen when the virtual world is misalignedwith the designated play area in the real world. After considering several approaches we settled onusing a second positioning system in the form of an optical inside-out approach. In order to dealwith the opportunistic and desynchronised nature of this method we developed a multi-rateextended Kalman filter for the sensor fusion. The filter was designed with two update steps, one foreach positioning system. One update step takes the pose of the OPS and the other a delta pose of thecurrent and previous XME pose. With this approach a test was done where the designed OPS errormodel and the delta approach were compared to simple alternatives. The test used a third, proven,pose estimation system (the optitrack) to provide ground truth poses. The results show that the OPSerror model doesn't improve much over a static error. The delta approach is very preferablecompared to the non delta approaches tested. The results also show that the algorithm does correctthe drift." @default.
- W2787927323 created "2018-03-06" @default.
- W2787927323 creator A5012824317 @default.
- W2787927323 date "2018-01-01" @default.
- W2787927323 modified "2023-09-27" @default.
- W2787927323 title "Drift correction using a multi-rate extended Kalman filter" @default.
- W2787927323 hasPublicationYear "2018" @default.
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