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A Prototype Optical Tracking System Investigation and Development - page 20 / 170





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Introduction and Background

It is designed for high precision and for operating both indoors and outdoors in relatively large tracking volumes. The prototype IRL tracker uses PC based systems to do this. disadvantage of this approach is that PCs are often larger than embedded systems that run dedicated firmware. However, an advantage of this approach is that algorithms can be designed and tested easily using a PC. It is believed that this system is designed with large scene surveys in mind rather than accurate object scanning. It appears that the accuracy is on the order of a few millimetres based on the figures in one of their papers [21].


Other optical tracking systems

There are other optical tracking systems on the market.

list of some of these systems is

summarised in Table 1.1 along with their salient features. The systems in this list serve dif- ferent purposes. For example, the Phoenix Technologies Inc. Visualeyez system provides 3 DOF for body motion capture. The OPTOTR K PRO system from Northern Digital is designed for making discrete point measurements. Neither of these systems are suitable

for use with FastSC

N. Of the systems listed in this table,

only the HiBall tracker from

3rdTech would be suitable due to its high accuracy and 6 DOF output.

Depending on the

performance of the IRL prototype, this system could also be used with FastSC



Thesis structure

The remainder of this thesis describes the design of the system and its performance. The system in this research uses an array of intelligent camera modules in fixed orientations rel- ative to each other. They observe a number of LEDs placed on the perimeter of the tracking volume. n overview of the design is given in Chapter 2. specification for the system is developed and the topology of the system described. The components and their roles are discussed. Following this, Chapter 3 analyses the design and describes the theory behind the design. In the following chapters the specifics of the system are described, beginning with the camera module firmware (Chapter 4), followed by the hardware (Chapter 5), the communications system (Chapter 6), and the central part of the design known as the hub (Chapter 7). The thesis finishes by presenting results in Chapter 8, focusing on the 2D per- formance of the camera modules and touching on the overall system performance. Finally

Chapter 9 provides conclusions from the research and identifies areas for future work.

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