A portable 6-DOF motion tracker using high-accuracy AR markers — First report on the feasibility

We report a portable 6-DOF (six degrees of freedom) motion tracking system which uses high-accuracy AR markers. It enables easy measurement of 6-DOF motion of multiple tracking points by a single camera. We examined the measurement accuracy of the motion tracker by comparing with an ordinary motion-capture system. The pose estimation errors are about 5 [mm] in location (depth) and about 2 [deg] in orientation. We also demonstrated its availability and feasibility through a tracking test of human-arm motion.