Integrated head and hand tracking for indoor and outdoor augmented reality

This paper describes the implementation of hybrid tracking software that is capable of operating both indoors and outdoors. Commercially available outdoor trackers are combined with an indoor tracker based on fiducial markers and video cameras. The position and orientation of the user´s body is measured in physical world coordinates at all times, and tracking of the hands is performed relative to the head. Each of the tracking components is designed to easily scale to large indoor and outdoor environments, supporting applications such as our existing Tinmith-Metro modelling system. This paper focuses on the integration of the indoor tracking subsystem. By using features such as multiple video cameras and combining various tracking data the system can produce results that meet the requirements for many mobile mixed reality applications.