Art DTRACK3 User Manual page 26

3 Introduction to tracking
circuits and analog or digital outputs to achieve 6DOF rotational information.
Some of the most important advantages of hybrid tracking are:
tracking data from IMUs offers low noise-levels while running at very high frequen-
cies in combination with low latencies
IMUs deliver tracking data (i.e. rotational information) even when the optical target
is not inside the tracking volume or if the target cannot be tracked due to viewing
limitations or occlusions
drifting of IMUs (i.e. mostly from the 3-axis gyroscope) is compensated by fusing the
inertial data with position measurements calculated from the optical tracking system
A hybrid target is basically an optical target additionally equipped with an IMU, which itself
is connected to the controller or
There the tracking data from both worlds (i.e. hybrid) is combined, which also leads to
the term 'sensor fusion'. By nature the IMU contains an independent coordinate system
which needs to be aligned to the optical tracking system axes. This additional teaching
process is called hand-eye calibration or 'hybrid body calibration' in
Tracking with DTRACK3
integrated controller in
vices (optional) and targets respectively. The software
and backend software.
The backend software runs on the controller - all necessary calculations (3DOF, 6DOF
data, etc.) are performed there. The data and control commands are interchanged via
ethernet (TCP/IP connection) between the controller and the
ware on the remote PC.
the user to control the tracking system at a distance. The benefit is that the system be-
comes more flexible, i.e. different users can control the tracking system at any one time
(but not simultaneously!) from different working places.
Data output to the application or graphics workstation is also done via ethernet (UDP/IP
connection).
Furthermore, DTRACK3
via ethernet (i.e. without the
lishing a TCP/IP connection with the controller and exchanging short command strings
(refer to the DTRACK3 Programmer's Guide
26
SMARTTRACK2/3/M
All ART systems are based on a controller (stand-alone or
SMARTTRACK2/3/M
DTRACK3 frontend offers a GUI for easy handling that enables
provides the possibility to control the functions in the backend
DTRACK3
frontend software). This is also done by estab-
.
) which operates cameras, interaction de-
DTRACK3
DTRACK3
).
DTRACK3 .
consists of frontend
frontend soft-