A Hybrid Line-based Tracking System for Outdoor Environments

We describe a hybrid tracking system for outdoor augmented reality applications in this paper. There are two main contributions of the proposed system: 1) It makes use of naturally occurring line features to recover 6ODF pose; 2) A high precision gyro is used to track 2D lines across frames for large inter-frame motions. The proposed system has been tested for outdoor augmented reality application. The experiments show that the proposed hybrid 2D-2D line tracking algorithm can reduce the need for 3D-2D matching task, and high accuracy is achieved for the pose recovery.