Fiducial tracking (1994)
The AR tracking system of Bajura and Neumann consists of a robust vision landmark tracker, inertial gyro sensors, and the complementary fusion filter described above. The sensor module contains a CCD video camera (Sony XC-999 with 6mm lens), and three orthogonal rate gyroscopes (GyroChip II QRS14-500-103, from Systron Donner), which are tightly covered by a foam block to provide shock protection and a stable temperature environment from the sensors. The video camera provides a 30 Hz video stream, while the three gyroscopes are sampled at 1kHz via a 16-bit A/D converter (National Instruments DAQPCI-AI-16XE-20).
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