Optical tracking and automatic model estimation of composite interaction devices

In this paper, a novel model-based optical tracking and model estimation system for composite interaction devices is presented. Devices consist of a set of linked segments, where each segment can have combinations of translational and rotational degrees of freedom (DOFs) relative to a parent segment. The system automatically constructs the geometric skeleton structure, DOF relations, and DOF constraints between segments. Pre-defined models are not required. The system supports segments with only a single marker, so that interaction devices can be small with a low number of markers. The model is computed in an offline procedure. The tracking method uses the obtained device model to recognize the device and reconstruct all DOF parameters describing the pose of each segment. The tracking method can handle partial occlusion. Results show the proposed techniques are efficient and robust.