Method and apparatus for augmented reality hybrid tracking system with fiducial-based heading correction

An apparatus for enabling accurate registration of virtual information upon real objects in selected environments from the perspective of a moveable observation platform having a position and an orientation within an observation space positioned within the environment, the position and orientation defining the registration of the virtual information within the observation space within the environment, comprising:

• at least three tracking fiducials selectively each respectively located in fixed predetermined locations in the observation space;
• the observation platform including a position sensing means for sensing an estimated position of the observation platform in the observation space and a heading sensing means for sensing an estimated heading of the observation platform within the observation space;
• the observation platform further including a wide view fiducial detection means mounted on the observation platform for detecting the relative direction from the observation platform to each of the plurality of tracking fiducials, relative to a heading direction of the observation platform, assuming an approximated heading direction of the observation platform, the wide view fiducial detection means including means for detecting fiducials in a panoramic field of view greater than one hundred and eighty degrees;
• a heading error detection means for detecting the difference between the estimated heading and the present heading based upon the observed relative directions to the respective tracking fiducials, and forming a corrected heading from the estimated heading and the detected heading error;
• a position error detection means for detecting the difference between the estimated position in the observation space and the actual position based upon the observed positions of the respective fiducials and the corrected heading of the observation platform.

A method for enabling accurate registration of virtual information upon real objects in selected environments from the perspective of a moveable observation platform having a position and an orientation within an observation space positioned within the environment, the position and orientation defining the registration of the virtual information within the observation space within the environment, comprising:

• providing a plurality of at least three tracking fiducials selectively each respectively located in fixed predetermined locations in the observation space;
• the observation platform including a position sensing means for sensing an estimated position of the observation platform in the observation space and a heading sensing means for sensing an estimated heading of the observation platform within the observation space;
• the observation platform further including a wide view fiducial detection means mounted on the observation platform for detecting the relative direction from the observation platform to each of the plurality of tracking fiducials, relative to a heading direction of the observation platform, assuming an approximated heading direction of the observation platform, the wide view fiducial detection means, including means for detecting fiducials in a panoramic field of view greater than at least one hundred and eighty degrees;
• detecting the difference between the estimated heading and the present heading based upon the observed relative directions to the respective tracking fiducials, and forming a corrected heading from the estimated heading and the detected heading error;
• detecting the difference between the estimated position in the observation space and the actual position based upon the observed positions of the respective fiducials and the corrected heading of the observation platform.