Abstract
This paper presents a novel, low-cost, expandable 3D motion tracking system with the ability to adapt to dynamic background illumination. The proposed system consists of multiple tracker modules equipped with a linear optical sensor arrays and a 9-DOF inertial measurement unit for position and orientation tracking of a wireless IR-LED illuminated active marker. This paper presents an extended Kalman filter-based sensor fusion architecture for combining data acquired from multiple trackers and marker for enhanced accuracy and operational range. The marker system adaptively adjusts the LED intensity to optimize energy consumption and measurement accuracy. The proposed system’s ability to extract background illumination allows it to be robust toward differences in scene illuminations, both static and dynamic. Detailed hardware design and performance evaluation through experimentation have been discussed in this paper.
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