Welcome to the Ubitrack web!

Tracking is a major challenge for Mixed-/Augmented Reality applications. Especially heterogeneous and wide-area sensor setups make high demands on the AR-engineer being responsible for their setup and maintenance.

The Ubitrack decouples applications from the underlying sensor infrastructure. It provides a huge range of drivers for various kinds of tracking hardware. Furthermore, state-of-the-art algorithms are provided to solve common calibration and tracking tasks. Ubitrack runtime library is free software licensed unter LGPL (Version 2). It is implemented in C++ in a platform-independent way. It is known to run on Linux, MS Windows (and Mac OS X sorry, not at the moment). A binary version is available for MS Windows.

trackman is a graphical planning and analysis tool based on Ubitrack. It supports the AR-engineer in setup and maintenance of the tracking infrastructure. A new graphical modeling approach based on spatial relationship graphs allows for rapid specification of data flow networks which can be directly instantiated using Ubitrack. Special functionality is provided in trackman for easy calibration of rigid spatial transformations, as well as for analyzing tracking accuracy. trackman is proprietary software developed by peyclon integration. It is written in Java for platform-independency and runs on Linux, MS Windows and MAC OS X. A free binary version is available for download.

Have a look at some Screenshots and Videos to get an impression of the capabilities provided by Ubitrack and trackman!

News

• December 10 2013: The cleanup is complete. You can find the source code on GitHub: https://github.com/Ubitrack
• July 15 2013: The cleanup of the code is nearly finished. A port to Android was successful
• March 3 2011: We are currently switching the Ubitrack source code repository from subversion to git. At the same time, the directory hierarchy is being reorganized and cleaned up. Therefore, guest accounts are currently not working. For urgent requests, please write an email to PeterKeitler. The new git repository will hopefully become available by summer 2013end of April 2011.
• February 28 2011: A Ubitrack / trackman teaser presentation with the title Management of Tracking and Tracking Accuracy in Industrial Augmented Reality Environments was held at WARM 2011 on February 23, 2011 in Graz, Austria. The Prezi presentation is available here.
• January 22, 2009: Invitation to the trackframe day 09, February 10, 2009 at BMW in Munich, Germany. See trackframe day 2009 for further information.
• January 19, 2008: The Ubitrack team organized a tracking competition on ISMAR08. A video is now available that summarizes the highlights as well as the results of this challenge.

Downloads

• Ubitrack download site
• trackman download site

User Documentation

Manuals

• UTQL (PDF) - The Ubiquitous Tracking Query Language Version 1.0
• trackman user manual (PDF)

Web Resources

• Management of Tracking and Tracking Accuracy in Industrial Augmented Reality Environments, Presentation at WARM 2011 on February 23, 2011 in Graz, Austria

Ubitrack Compilation and Installation GeneralIntroduction - A tutorial for beginners FAQ Pattern reference UTQL (XSD) - XML Schema formally describing the Ubiquitous Tracking Query Language (UTQL).

trackman FAQ Changelog UTQL Templates (XSD) - XML Schema containing type extensions for specification of pattern templates. The extensions are based on the UTQL (XSD) and needed by trackman. UTQL Types (XSD) - XML Schema with type extensions needed by trackman for type-safe import/export of SRGs. The extensions are based on the UTQL (XSD) and needed by trackman.

Mailing List

The Ubitrack mailing list is general purpose mailing list intended for Ubitrack users and developers. If you want to join this list, please register at http://mailnavab.in.tum.de/mailman/listinfo/ubitrack.

Developer's Corner

Ubitrack Doxygen documentation (Sorry, not available at the moment) CodingStyle DocumentationNotes LoggingHowto MathHowto PointerGuide LibraryToDo LibraryBugs SRG UML Diagram (PDF)

trackman DevelopmentEnvironment UtqlBindings ReleaseManagement Schedule

Research Papers

2011
	D. Pustka, M. Huber, C. Waechter, F. Echtler, P. Keitler, J. Newman, D. Schmalstieg, G. Klinker Automatic Configuration of Pervasive Sensor Networks for Augmented Reality IEEE Pervasive Computing, Volume 10, Number 3, July-Sept. 2011, pp. 68-79. (bib)
	P. Keitler Management of Tracking and Tracking Accuracy in Industrial Augmented Reality Environments Dissertation (PhD thesis), Fakultät für Informatik, Technische Universität München, April 2011 (online version) (bib)
2010
	P. Keitler, D. Pustka, M. Huber, F. Echtler, G. Klinker Management of Tracking for Mixed and Augmented Reality Systems The Engineering of Mixed Reality Systems, E. Dubois, P. Gray, L. Nigay (eds.), Human-Computer Interaction Series, Springer Verlag, 2010. (bib)
	M. Huber, B. Becker, G. Klinker Location aware computing using RFID infrastructure Int. J. Autonomous and Adaptive Communications Systems, Vol. 3, No. 1, 2010, pp. 23 - 38 (bib)
2009
	M. Huber, M. Schlegel, G. Klinker Temporal Calibration in Multisensor Tracking Setups 8th IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR 2009), Orlando, USA, October 2009, pp. 177-178 (bib)
2008
	P. Keitler, M. Schlegel, G. Klinker Indirect Tracking to Reduce Occlusion Problems 4th International Symposium on Visual Computing (ISVC), Las Vegas, Nevada, USA, December 2008, pp. 224-235. (bib)
	D. Pustka, G. Klinker Dynamic Gyroscope Fusion in Ubiquitous Tracking Environments The Seventh IEEE and ACM International Symposium on Mixed and Augmented Reality, Cambridge, UK, Sep. 15 - 18, 2008, pp. 13-20. (bib)
	B. Becker, M. Huber, G. Klinker Utilizing RFIDs for Location Aware Computing 5th International Conference on Ubiquitous Intelligence and Computing, UIC 2008, Oslo, Norway, June 23-25, 2008, pp. 216-228. (bib)
	D. Pustka, M. Huber, G. Klinker Integrating Gyroscopes into Ubiquitous Tracking Environments IEEE Virtual Reality, Reno, Nevada, Mar. 8-12, 2008, pp. 283-284. (bib)
	F. Echtler, M. Huber, D. Pustka, P. Keitler, G. Klinker Splitting the Scene Graph - Using Spatial Relationship Graphs Instead of Scene Graphs in Augmented Reality 3rd International Conference on Computer Graphics Theory and Applications (GRAPP '08), Funchal, Portugal, Jan. 22 - 25, 2008, pp.456-459. (bib)
2007
	M. Huber, D. Pustka, P. Keitler, F. Echtler, G. Klinker A System Architecture for Ubiquitous Tracking Environments The Sixth IEEE and ACM International Symposium on Mixed and Augmented Reality, Nara, Japan, Nov. 13 - 16, 2007, pp. 211-214. (bib)
	D. Pustka, P. Keitler, M. Huber, F. Echtler, G. Klinker Ubiquitous Tracking for Quickly Solving Multi-Sensor Calibration and Tracking Problems Demonstration at the Fourth IEEE and ACM International Symposium on Mixed and Augmented Reality, Nara, Japan, Nov. 14 - 16, 2007 (bib)
	D. Pustka, M. Huber, F. Echtler, P. Keitler UTQL: The Ubiquitous Tracking Query Language v1.0 Technical Report TUM-I0718, Oct. 11, 2007. (bib)
	M. Bauer Tracking Errors in Augmented Reality Dissertation (PhD thesis), Fakultät für Informatik, Technische Universität München, September 2007 (online version) (bib)
	J. Newman, A. Bornik, D. Pustka, F. Echtler, M. Huber, D. Schmalstieg, G. Klinker Tracking for Distributed Mixed Reality Environments IEEE VR 2007 Workshop on 'Trends and Issues in Tracking for Virtual Environments', Charlotte, NC, USA, Mar 11, 2007 (bib)
2006
	D. Pustka, M. Huber, M. Bauer, G. Klinker Spatial Relationship Patterns: Elements of Reusable Tracking and Calibration Systems The Fifth IEEE and ACM International Symposium on Mixed and Augmented Reality, Santa Barbara, CA, USA, Oct. 22 - 25, 2006, pp. 88-97. (bib)
	M. Bauer, M. Schlegel, D. Pustka, N. Navab, G. Klinker Predicting and Estimating the Accuracy of n-occular Optical Tracking Systems The Fifth IEEE and ACM International Symposium on Mixed and Augmented Reality, Santa Barbara, CA, USA, Oct. 22 - 25, 2006, pp. 43-51. (bib)
	D. Pustka Construction of Data Flow Networks for Tracking in Augmented Reality Applications Dritter Workshop Virtuelle und Erweiterte Realität der GI-Fachgruppe VR/AR, Koblenz, 25.-26. September 2006 (bib)