Handheld devices equipped with a video cameras provide an excellent platform for mobile visualisation in outdoor environments. The use of augmented reality enables the display of 3-dimensional information over a view of the real world. However, to correctly overlay such information, the position and direction of the video camera within the environment needs to be known very accurately. To make this possibe, we developed a tracking system that combines input from video images, electronic sensors measuring rate of rotation, gravity and the Earth's magnetic field and GPS. (2006)
http://mi.eng.cam.ac.uk/~gr281/outdoortracking.html
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