Single-camera system for optically tracking freehand motion in 3D: experimental implementation and evaluation

A single camera optical tracking system has been implemented to track the freehand motion of an object in 3D. The system consists of a single standard NTSC video camera and a frame grabber that is utilized to digitize the image of a target plate with four non-collinear fiducial marks. The tracking algorithm is based on texture mapping to determine the rotation and translation of the plate (and hence object) from the images of four fiducial marks. Utilizing a SGI VW320 workstation (with integrated frame grabber) and a CCD video camera, tracking accuracy of better than 0.1 mm for object velocity of 4.0 cm/s was achievable at full video frame rate for all directions.

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