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### Tracking Systems Overview

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Virtual Reality Engineering
Prof. Steve LaValle
Department of Multidisciplinary

Lecture – 12-1
Tracking Systems (overview)

Tracking Systems:
• What do we want to track?
• Rigid bodies: because it provides a correct view point that is the part that is most sensitive
o HMD
o Eyes o Palms o Fingers o Full body o Movable Objects
o Other People in space

For each body estimate rotation and translation:
R = q(a,b,c,d)
T = (xt, yt, zt)

Virtual Reality Engineering
Prof. Steve LaValle
Department of Multidisciplinary

Lecture – 12-2
Tracking Systems (gyroscope integration)

2D orientation case:

t = 0,  = 0
t > 0, rotation rate  rad/sec where  = d/dt
(t) = 0 + t
If  varies with time

In actual computation we do Discrete Time Approximation

expect t to be some fixed sampling rate.
t = 1ms i = ((i - 1) t)
With this we construct the following:

3D orientation case:

If  is constant over t, then rotation is by

And axis

Let be the representation of

Problems:
- Drift Errors