Low-Cost Visual/Inertial Hybrid Motion Capture System for Wireless 3D Controllers

motion capture;inertial sensors;visual sensors;wireless controllers;Electrical and Computer Engineering

Wong, Alexander

University of Waterloo

关键词: motion capture;    inertial sensors;    visual sensors;    wireless controllers;    Electrical and Computer Engineering;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/2991/1/thesis.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

It is my thesis that a cost-effective motion capture system for wireless 3D controllers can be developed through the use of low-cost inertial measurement devices and camera systems. Current optical motion capture systems require a number of expensive high-speed cameras. The use of such systems is impractical for many applications due to its high cost.This is particularly true for consumer-level wireless 3D controllers.More importantly, optical systems are capable of directly tracking an object with only three degrees of freedom.The proposed system attempts to solve these issues by combining a low-cost camera system with low-cost micro-machined inertial measurement devices such as accelerometers and gyro sensors to provide accurate motion tracking with a full six degrees of freedom.The proposed system combines the data collected from the various sensors in the system to obtain position information about the wireless 3D controller with 6 degrees of freedom.The system utilizes a number of calibration, error correction, and sensor fusion techniques to accomplish this task. The key advantage of the proposed system is that it combines the high long-term accuracy and low frequency nature of the camera system and complements it with the low long-term accuracy and high frequency nature of the inertial measurement devices to produce a system with a high level of long-term accuracy with detailed high frequency information about the motion of the wireless 3D controller.