A 15 minute presentation structured into three parts: (1) A high level overview of the history and state of the art in motion tracking technologies (2) Several high level case studies on the challenges and approaches to solving motion tracking in some real world applications (e.g., VR training and simulation; Projector based caves; Airforce and Naval Air pilot augmented reality; Ground vehicle augmented reality; Pedestrian (see-thru) augmented reality) (3) The future of motion tracking technologies and applications Augmented World Expo (AWE) is back for its seventh year in our largest conference and expo featuring technologies giving us superpowers: augmented reality (AR), virtual reality (VR) and wearable tech. Join over 4,000 attendees from all over the world including a mix of CEOs, CTOs, designers, developers, creative agencies, futurists, analysts, investors, and top press in a fantastic opportunity to learn, inspire, partner, and experience first hand the most exciting industry of our times. See more at http://AugmentedWorldExpo.com

1. Lessons Learned:Ten years
of MotionTracking for Mixed
Reality applications
Tom Calloway
Advanced Programs Manager
ThalesVisionix – Massachusetts, USA
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2. Outline
I. MotionTracking for Mixed Reality
II. Lessons to Remember
III. The Future ofAugmented Reality
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3. MotionTracking: From Nice to Necessary
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The utility of motion tracking has ranged from useful to absolutely
necessary at points along the entire mixed reality continuum

4. MotionTracking for Mixed Reality
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“Tracking any combination of the degrees of freedom
(DOF) can be useful for a given application.
e.g. 1, AR for pilots (3DOF orient. or 6DOF pose)
e.g. 2,VR (3DOF orient. or 6DOF pose)
e.g. 3,Tracking a tool (3DOF pos. or 6DOF pose)
e.g. 4,Tagging an object (6DOF pose + 1DOF range)
e.g. 5, Deep see diving (1DOF depth)

5. MotionTracking Approaches are Diverse
All Kinds of Hardware:
• Gyroscopes
• Accelerometers
• Ultrasonic transmitters and receivers
• Magnetic sources and sensors
• Cameras (mono, stereo, panoptic)
• Depth sensors (structured light, time of flight)
• Markers and fixed references (visible light,
reflective, LED)
All Kinds of Algorithms:
• Kalman filtering (EKF, UKF, MSCKF)
• ICP, RANSAC, particle filtering, smoothing
• Image processing and computer vision
• Centroid refinement, natural feature detection,
machine learning
• SLAM,VINS,VIO
• Enhancement filters
• Prediction, virtual synchronization, perceptual
enhancement
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6. Lessons to Remember
1. Understand your user and your application
2. Know your environment and your technology
3. Don’t settle for sub-optimal performance
Unless you truly have no choice
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7. Understand your User and your Application
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Firefighters “kick” their way up stairs to
test their stability and integrity.
Shoe mounted inertial tracking
algorithm needs to be robust against,
and even make use of that knowledge.

8. Understand your User and your Application
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Air Force pilots come in all sizes…

9. Know your Environment and yourTechnology
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Stinger Missile DomeTrainer withWireless ultrasonic-inertial motion
tracking system, Courtesy of AAI
Tracking systems fusing ultrasonic
and inertial data can work extremely
well in environments where other
systems fail.
Doesn’t work so well in the presence
of microphone-saturating explosion
sounds though…

10. Don’t Settle for Sub-optimal Performance
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A tracking installation wasn’t proceeding
optimally due to sighting equipment slipping
in simulated Martian sand.
We switched to a fiducial auto-mapping
approach that we use for aircraft cockpit
augmented reality.
This prompted us to further improve our
algorithms. We now get ~20 micron of RMS
mapping precision for pilot augmented reality.

11. So remember once again..
1. Understand your user and your application
2. Know your environment and your technology
3. Don’t settle for sub-optimal performance
Unless you truly have no choice
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12. The Future of MotionTracking in AR
Enabling Augmented Reality Anywhere
1. Inertial Sensors will become more accurate and dominate the approaches
2. Computational power will continue improving (ASICs, 3D chips, local + cloud, etc.)
3. Utility of AR will expand in tandem with hardware and content
4. Major software efforts including OS re-writes (ROS -> CyOS)
5. Perfect storm of wearables, IoT, better algorithms, content, data and hardware
6. The net result will be extremely positive, fun, and profitable!
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13. Thales Visionix, Inc. #AWE2016 13
A glimpse of Keiichi Matsuda’s Hyper Reality dystopia

14. Thank you!
Come see the ThalesVisionix booth in the AR Section of the Expo
- See technology demonstrations (natural feature tracking and AR)
- Let us help you solve your motion tracking challenges
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