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Uploaded on 2 Jan 2009
This video shows a person (me) using a walking frame being localised from an unknown starting position and tracked using a particle filter (blue dots). For sensing, the system uses a panoramic mirror and webcam setup, which provides a 360 degrees field of view. A previously acquired 3D environmental model is used to estimate the pose (position and orientation) by matching from the webcam images with those in the virtual world.