Hybrid indoor and outdoor tracking for mobile 3D mixed reality

Abstract

This paper describes a new hybrid tracking system that integrates standard outdoor augmented reality trackers with a low cost indoor tracker based on the use of fiducial markers. We use multiple cameras, separate orientation sensing, and scene graph integration to improve on similar previous systems. This hybrid tracker allows applications to operate within large indoor and outdoor environments with minimal scaling costs. Tracking is performed using GPS style world coordinates both indoors and outdoors, and has been integrated into our existing mobile 3D modelling applications.