Hardware Accelerated Marker-Based Accurate Rigid Object 6-DoF Pose Tracking System

Augmented Reality (AR) and Mixed Reality (MR) have gained more and more awareness among consumers in recent years. However, pose accuracy, stability, and latency still left a lot to be desired when it comes to users’ experiences and acceptance. This work focuses on marker-based rigid object pose accuracy and computation latency. We developed a flexible marker-based accurate rigid object 6-DoF pose tracking system. First, a calibration algorithm for marker pose configuration is proposed after the multiple-marker system is setup for a target application. Next, a pose tracking system is developed to achieve sub-mm performance with the calibrated marker pose configuration. Moreover, a high-throughput pose engine hardware accelerator is proposed to achieve real-time performance.