M. Bauer Tracking Errors in Augmented Reality Dissertation (PhD thesis), Fakultät für Informatik, Technische Universität München, September 2007 (online version) (bib)
	Tracking is an important component of augmented reality systems. Tracking means to determine and follow the position and orientation of an object with respect to some reference coordinate system over time. As with all physical measurements the estimate is affected by errors. These errors propagate through the chain of transformations from the tracking systems to the final application,until they appear as alignment errors in the augmented reality application. This thesis deals with the mathematical tools that are needed to estimate the final resulting precision, as well as with visualization concepts for exploring and understanding tracking errors. The special case of optical tracking systems is further analyzed to provide useful initial estimates of the tracking error. A set of examples finally shows the application of the error estimation in realworld setups.
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