The concept of Mixed Reality (MR) aims at completing our perception of the real world, by adding fictitious elements that are not perceptible naturally such as: computer generated images, virtual objects, texts, symbols, graphics, sounds, smells, et cetera. One of the major challenges for efficient Mixed Reality system is to ensure the spatiotemporal coherence of the augmented scene between the virtual and the real objects. The quality of the Real/Virtual registration depends mainly on the accuracy of the 3D camera pose estimation. The goal of this chapter is to provide an overview on the recent multi-sensor fusion approaches used in Mixed Reality systems for the 3D camera tracking. We describe the main sensors used in those approaches and we detail the issues surrounding their use (calibration process, fusion strategies, etc.). We include the description of some Mixed Reality techniques developed these last years and which use multi-sensor technology. Finally, we highlight new directions and open problems in this research field.
Combining Edge and Texture Information for Real-Time Accurate 3D Camera Tracking
