Theory and Design
Figure 3.9 (a) The 3 m × 3 m × 3 m tracking volume containing 5 beacons with a total of 20 markers is shown. The beacons are placed on each wall and the roof. There are not any beacons on the floor. (b) The tracking volumes arising from each of the side beacons are shown overlaid on top of each other. The outline of the tracking cube is shown by the solid line.
els above a threshold in each ROI is calculated. The centroid coordinates are passed to the Soft Hub for use in pose estimation. possible system configuration uses five beacons, each containing four markers, placed in the centre of five of the faces of a 3 m × 3 m × 3 m
cube. There would not be any beacons placed on the floor.
By analysing the motion that a laser scanner undergoes during a typical scan, the max- imum velocities and accelerations can be determined. maximum linear velocity of 27 pixels/frame was calculated using data from a scan. This corresponds to a ROI size of 70
by 70 pixels.