Vision-inertial tracking system for robust fiducials registration in augmented reality

This paper describes a multimodal tracking system to resolve occlusions in augmented reality applications. The first module of the proposed architecture is composed of a vision based system and allows identification and tracking of visible targets. When targets are partially occluded by scene elements, a second module relieves the vision based module and tracks feature points using a robust algorithm. Finally, a multi-sensors tracking approach is implemented to handle total occlusion of targets and maintains registration even if all markers are not visible. Experimental results and many evaluations have been performed to show the efficiency and robustness of the proposed multimodal approach of tracking and occlusion handling in augmented reality.