Augmented Reality är en teknik för att förstärka verkligheten, där digitala objekt placeras framför bilder eller liknande genom att använda kameran på den mobila enhet. Eftersom det finns flera olika metoder att använda Augmented Reality-tekniken har undersökningar och efterforskningar inom området gjorts. Ett exempel på ett område där denna teknik går att använda är reklam. Reklam är något som alla dagligen möts av, men oftast kan ses som tråkiga eller är något många inte lägger märke till. Genom en Augmented Reality prototyp kan användaren registrera respektive mönster eller tal och hämta nödvändig data från en databas. Sedan skapas en interaktiv händelse som visar informationen på ett unikt sätt, där alla, även de funktionshindrade kan ta del av den information de oftast saknar. Denna interaktiva händelse ger även liv till de tidigare tråkiga reklam- eller informationsaffischer. Resultatet av rapporten är en prototyp på mobila plattformen Android som använder Augmented Reality-tekniken och har många funktioner. Den kan acceptera röstigenkänning för att registrera det som talas in och utifrån specifika nyckelord kan prototypen ge information om nyckelordet. Testningen av denna prototyp visar att många är positiva i användningen av prototypen och ser det som ett intressant sätt att få ut informationen. Personerna som har testat prototypen kan tänka sig att använda prototypen själva för att få ut sin egna reklam på ett unikt och lockande sätt. / Augmented Reality is a technology where an object is introduced in front of a picture or a similar media using the camera on a mobile device. There are several different ways to use the Augmented Reality technology, research in the field has therefore been made. An example of an area where the technology can be used is advertisement. Since advertisement is something everyone is confronted with daily, but usually the advertisement can be seen as boring or is something many do not even notice. Through a Augmented Reality prototype, users can register both patterns and speech and get the required data from a database. It can create an interactive event that displays the information in a unique way, where everyone, even people with disabilities can take part of the information they usually can not take part of. This interactive event gives life to the previously tedious advertisement or information posters. The result of the report is a prototype on the mobile platform Android using Augmented Reality technology and the prototype has many features. It can use voice recognition and keywords to access additional information about the keyword. The testing of this prototype shows that many are in favour of the use of the prototype and they see it as an interesting way to get the information. That is why they are willing use the application themselves to get their own advertising in a unique and appealing way.

I en tid där digitaliseringen är mer utbredd än någonsin ökar också mängden data som samlas och delas online. I takt med att nya tekniker utvecklas öppnas det upp för nya utmaningar för integritetsfrågor. En aktiv användare online ägnar sig med största sannolikhet också åt ett eller flera sociala medier, där ändamålen ofta innebär att dela med sig av information till andra. Eftersom tekniken Augmented Reality används mer frekvent i några av de största sociala medieapplikationerna blev studiens syfte att undersöka potentiella integritetsproblem med Augmented Reality. Studiens tillvägagångssätt har bestått av en empirisk datainsamling för att skapa ett teoretiskt ramverk för studien. Utifrån detta har det genomförts en digital enkät samt intervjuer för att närmare undersöka användarens beteende online och The Privacy Paradox. Utifrån undersökningens resultat kunde The Privacy Paradox bekräftas och ge en bättre förståelse för hur användaren agerar genom digitala kanaler. I studien behandlas olika aspekter kring integritetsfrågor såsom användarvillkor, sekretessavtal, datamäklare, framtida konsekvenser och vad tekniken möjliggör. Studien kommer fram till att användare, företaget och dagens teknik tillåter att en känsligare information kan utvinnas genom ett dataintrång. Även om det ännu inte har inträffat ett dataintrång som grundat sig i Augmented Reality före denna studie, finns det en risk att det endast handlar om en tidsfråga innan detta sker. / In a time when digitalization is more widespread than ever, the amount of data collected and shared is increasing. As new technologies develop, challenges for privacy concerns arises. An active online user is likely to engage in one or many social media platforms, where the purpose often involves sharing information with others. Since Augmented Reality is more frequently supported in some of the biggest social media applications, the purpose of this study was to investigate potential privacy concerns with Augmented Reality. The study’s approach consisted of an empirical data collection to create a theoretical framework for the study. Based on this, a digital survey and interviews were conducted to further investigate the user's behavior online and The Privacy Paradox. Based on the results of the survey, The Privacy Paradox could be confirmed and a better understanding of how the user interacts through digital channels was achieved. The study treats different aspects of privacy concerns such as user terms, privacy policies, data brokers, future consequences and what technology enables. The study reached the conclusion that users, businesses and today's technology allow a more sensitive type of information to be collected through a data breach. Even if there has not yet occurred a data breach enabled by Augmented Reality prior to this study, there is a risk that it is only a matter of time until this happens.

The gaming industry is changing, and new games and gaming experiences are being developed. From board games to video games, to the latest AR and VR games. Right now, developers are trying to develop experiences that combine the real and the virtual into one wholesome and believable mix. This gives new opportunities to implement technology in classical artifacts. In the context of board games there are several tangible pieces, and the dice is the chosen main character for this study. Placed in the middle, between board games and digital games, AR games comes now. Previous research of board games and digital technology gives interesting information on the activity and provides a foundation for new design. The dice is world famous, so this study aims to find out how this piece can evolve with the help of technology. By working with concept driven design, in relation with an AR game studio, the AR Dice and the AR Game DiceFold was invented. A qualitative method was used in which experts of the industry got together to discuss the new experiences of AR games and the functionality of the AR Dice which might become a new part of the gaming world in the near future. The findings of this study lead to three promising discoveries. A new gaming component, new AR game and further answers regarding research in the scopes of AR games. / Spelindustrin förändras och nya former av spel och upplevelser utvecklas. Från brädspel till datorspel till de nyaste AR och VR spelen. Just nu arbetar utvecklare med att skapa nya upplevelser där det virtuella kombineras med verkligheten till en fulländad och trovärdig mix. Detta skapar utrymme för nya möjligheter at implementera teknologi i klassiska artefakter. Inom kontexten av brädspel finner vi många fysiska spelobjekt och tärningen är vald som huvud-karaktären för den här studien. Placerad mellan brädspel och digitala spel kommer nu AR spel. Tidigare forskning inom brädspel och teknologi gav intressant information inom kontexten och agerar som riktlinjer och som grund för ny design. Tärningen är världskänd så siktar den härstudien mot att ta reda på hur det här objektet kan utvecklas med hjälp av teknologi. Genom att arbeta med konceptdriven design och i nära relation med en AR spelstudio, designades den nya AR tärningen och det nya AR spelet DiceFold. En kvalitativ metod användes där experter inom industrin diskuterade de nya möjliga upplevelser inom AR spel och funktionaliteten hos AR tärningen, som kanske kan bli en ny del inom spelvärlden i en snar framtid. Denna studie resulterar i tre olika saker, den nya spel komponenten AR tärningen, det nya AR spelet DiceFold och mer information inom forskning av AR spel.

Auch mit modernster Technik und Maschinen ist der Mensch aus der Produktion nicht wegzudenken. Bediener mit Erfahrung sind elementar wichtig für effiziente Produktionsprozesse und bleiben unersetzbar – so die Theorie. In der Praxis fehlt den Unternehmen allerdings zunehmend gut ausgebildetes Fachpersonal. Lange Stillstandszeiten und hohe Ausschussmengen können die Folge sein. Gemeinsam mit Ihnen und weiteren Vertretern aus Wissenschaft und Industrie wollen wir uns mit neuen Konzepten und Visionen selbstlernender Bediener-Assistenzsysteme auseinandersetzen, - psychologische Aspekte, - die Nutzung von Augmented und Virtual Reality sowie - selbstlernende Systeme (künstliche Intelligenz) vorstellen und anschließend diskutieren.:1. Dr. Peter Golz (VDMA, Frankfurt am Main): Der Mensch im Produktionsumfeld 2. Dr. Romy Müller (TU Dresden, Professur für Ingenieurpsychologie und angewandte Kognitionsforschung): Mensch-Maschine-Kooperation in hochautomatisierten Systemen 3. Andre Schult (Fraunhofer IVV Dresden): Selbstlernendes Bediener-Assistenzsystem 4. Harald Wolf (Hassia Verpackungsmaschinen GmbH, Ranstadt): Mensch-Maschine im internationalen Umfeld 5. Ulf Heinemann (Robotron Datenbank- Software GmbH, Dresden): Störungserkennung durch Motorstromanalysen in Produktionsstraßen 6. Tilman Klaeger (Fraunhofer IVV Dresden): Maschinelles Lernen am Fraunhofer IVV Dresden 7. Patrick Marchion (Dividella AG, Grabs, CH): Augmented Reality für Wartung und Bedienung

Mit der Automatisierung in der Produktion wird oft versucht, den Menschen als mögliche Fehlerquelle zunehmend vom Prozess auszuschließen. Dabei besitzt der Mensch einzigartige und nützliche motorische, sensorische und kognitive Fähigkeiten. Innovative Technologien bieten nun die Grundlage, Automatisierung und menschliche Fähigkeiten ideal zusammenzuführen und somit die Effizienz von Produktionsprozessen deutlich zu steigern. Wir möchten Sie herzlich einladen, diese neuen Möglichkeiten mit uns zu diskutieren. Vertreter aus Forschung und Industrie werden aktuelle Strategien und Entwicklungen vorstellen. In der begleitenden Demo-Session finden Sie Gelegenheit, mit Experten zu sprechen und Technologien auszuprobieren.Ziel ist es, Ihnen einen ersten Einblick zu bieten und dadurch den Grundstein für eigene Anwendungsideen und -projekte zu legen.:1. Andre Schult (Fraunhofer IVV, Dresden): Begrüßung 2. Peter Seeberg (Softing Industrial Automation GmbH): KeyNote: Industrie 4.0 - Revolution durch Maschinelles Lernen 3. Andre Schult (Fraunhofer IVV, Dresden): Selbstlernende Bediener-Assistenzsysteme - Ein Update 4. Dr. Lukas Oehm (Fraunhofer IVV, Dresden): Ideenwerkstatt zukünftiger Projekte 5. Dr. Romy Müller (TU Dresden): Übervertrauen in Assistenzsysteme: Entstehungsbedingungen und Gegenmaßnahmen 6. Diego Arribas (machineering GmbH & Co. KG): Mehr Geschwindigkeit durch Digitales Engineering, Virtuelle Realität und Simulation 7. Sebastian Carsch (Fraunhofer IVV, Dresden): Informationsaustausch im interdisziplinären Entwicklungsprozess 8. Prof. Rainer Groh (TU Dresden): Das menschliche Maß der Interaktion 9. Fanny Seifert (Elco Industrie Automation GmbH): Smart Maintenance - Industrie-Apps als Grundlage für ein durchgängig integriertes Assistenzsystem 10. Markus Windisch (Fraunhofer IVV, Dresden): Cyber Knowledge Systems - Wissensbausteine für die digitalisierte Bauteilreinigung 11. Dr. Marius Grathwohl (MULTIVAC Sepp Hagemüller SE & Co. KG): IoT und Smart Services in agiler Entwicklung – Phasen der digitalen Transformation bei MULTIVAC 12. Andre Schult (Fraunhofer IVV, Dresden): Zusammenfassung und Abschlussdiskussion

hälsotillstånd. Individer med intellektuell funktionsnedsättning, autism, eller båda nedsättningar, har ofta högre risk att hamna i social isolering än individer utan dessa funktionsnedsättningar. Forskning saknas kring hur Augmented Reality-spel kan tillämpas för att underlätta sociala interaktioner för vuxna individer med autism, intellektuell funktionsnedsättning, eller båda funktionsnedsättningar. Tidigare forskning undersöker ämnet mer generellt och fokuserar mer frekvent på barn och unga individer som målgrupp, denna forskning har dock visat positiva resultat gällande Augmented Reality som stöd för utlärandet av viktiga vardagskunskaper. Det problem denna studie ämnar att undersöka är hur vuxna individer med dessa typer av funktionsnedsättningar har en högre risk att hamna i social isolering, samt att det idag finns en brist på forskning kring riktlinjer om hur spel kan utformas för denna målgrupp. Social isolering är när en individ upplever social ensamhet, bristfällig kontakt med familj, social oro och depression Genom att utveckla en Augmented Reality-app-prototyp ämnar författarna att undersöka dess potential för att öka sociala interaktioner mellan vuxna individer med intellektuell funktionsnedsättning, autism eller båda funktionsnedsättningar. Genom att individerna använder funktionen i appen “ring en vän” så uppstår det en chans för att de träffas. På det sättet hoppas författarna av denna studie att slutprodukten skulle kunna skapa fler sociala interaktioner. Datainsamlingen utförs genom observationer och intervjuer med personal från en daglig verksamhet som dagligen interagerar med individer från målgruppen, med syfte att ge kunskap om Augmented Reality som undervisningshjälpmedel för individer med förutnämnda funktionsnedsättningar. Författarna av denna studie kodar och kategoriserade sedan datan i teman för att undersöka resultatet. I denna studie uppkommer det att det är svårt för personalen på den dagliga verksamheten att motverka social isolering för individerna med de förutnämnda funktionsnedsättningarna. Resultatet visar att det finns intresse och potential för Augmented Reality som ett hjälpmedel för att motverka social isolering. Författarna uppfattar det som att studien har brister då den data som samlats in inte hämtats från den aktuella målgruppen. Framtida forskning skulle kunna vidareutveckla artefakten som har skapats för denna studie. Framtida forskning skulle också kunna utforska möjligheten att utveckla “ring en vän” funktionen till ett verktyg som skulle kunna appliceras på olika applikationer / Social isolation, which is when an individual is distanced from their desired or necessary social networks, can lead to deteriorated mental health. Individuals with intellectual disabilities, autism, or both disabilities often have a higher risk of experiencing social isolation compared to individuals without these disabilities. There is a lack of research on how Augmented Reality games can be applied to facilitate social interactions for adults with autism, intellectual disabilities, or both disabilities. Previous research has explored the topic more generally and has focused more frequently on children and young individuals as the target audience. However, this research has shown positive results regarding the use of Augmented Reality as a support for learning essential life skills. The problem this study aims to investigate is how adults with these types of disabilities are at a higher risk of experiencing social isolation, and there is currently a lack of research on guidelines for designing games for this target group. Social isolation occurs when an individual experiences social loneliness, lack of contact with family, social anxiety, and depression. By developing an Augmented Reality app prototype, the authors intend to examine its potential to increase social interactions among adults with intellectual disabilities, autism, or both disabilities. By using the "call a friend" feature in the app, there is an opportunity for individuals to meet face to face. In this way, we hope that the end product could create more social interactions. Data collection is performed through observations and interviews with staff from a daily activity center who interact with individuals from the target group on a daily basis. The purpose is to provide knowledge about the use of Augmented Reality as an educational tool for individuals with the aforementioned disabilities. The authors of this study then code and categorize the data into themes to investigate the results. This study reveals that it is challenging for the staff at the daily activity center to counteract social isolation for individuals with the aforementioned disabilities. The results demonstrate that there is interest and potential for Augmented Reality as a tool to counteract social isolation. The authors perceive the study to have limitations as the data collected was not obtained directly from the actual target group. Future research could further develop the artifact that has been created,and could also explore the possibility of expanding the "call a friend" function into a tool that could be applied to different applications.

<p>Simultaneous localization and mapping (SLAM) is a general device localization technique that uses realtime sensor measurements to develop a virtualization of the sensor's environment while also using this growing virtualization to determine the position and orientation of the sensor. This is useful for augmented reality (AR), in which a user looks through a head-mounted display (HMD) or viewfinder to see virtual components integrated into the real world. Visual SLAM (i.e., SLAM in which the sensor is an optical camera) is used in AR to determine the exact device/headset movement so that the virtual components can be accurately redrawn to the screen, matching the perceived motion of the world around the user as the user moves the device/headset. However, many potential AR applications may need access to more than device localization data in order to be useful; they may need to leverage environment data as well. Additionally, most SLAM solutions make the naive assumption that the environment surrounding the system is completely static (non-moving). Given these circumstances, it is clear that AR may benefit substantially from utilizing a SLAM solution that detects objects that move in the scene and ultimately provides localization data for each of these objects. This problem is known as the dynamic SLAM problem. Current attempts to address the dynamic SLAM problem often use machine learning to develop models that identify the parts of the camera image that belong to one of many classes of potentially-moving objects. The limitation with these approaches is that it is impractical to train models to identify every possible object that moves; additionally, some potentially-moving objects may be static in the scene, which these approaches often do not account for. Some other attempts to address the dynamic SLAM problem also localize the moving objects they detect, but these systems almost always rely on depth sensors or stereo camera configurations, which have significant limitations in real-world use cases. This dissertation presents a novel approach for registering and localizing unknown moving objects in the context of markerless, monocular, keyframe-based SLAM with no required prior information about object structure, appearance, or existence. This work also details a novel deep learning solution for determining SLAM map initialization suitability in structure-from-motion-based initialization approaches. This dissertation goes on to validate these approaches by implementing them in a markerless, monocular SLAM system called LUMO-SLAM, which is built from the ground up to demonstrate this approach to unknown moving object registration and localization. Results are collected for the LUMO-SLAM system, which address the accuracy of its camera localization estimates, the accuracy of its moving object localization estimates, and the consistency with which it registers moving objects in the scene. These results show that this solution to the dynamic SLAM problem, though it does not act as a practical solution for all use cases, has an ability to accurately register and localize unknown moving objects in such a way that makes it useful for some applications of AR without thwarting the system's ability to also perform accurate camera localization.</p>

Die Digitalisierung im Bauwesen schreitet immer weiter voran und während in diesem Zusammenhang oftmals das Stichwort Building Information Modeling (BIM) fällt, entwickeln sich Disziplinen wie das Brandschutzingenieurwesen (BSI) unabhängig weiter. Das Brandschutzbüro Brandschutz Consult Ingenieurgesellschaft mbH Leipzig (BCL) verwendet das BSI, um ingenieurtechnische Verfahren heranzuziehen. BCL verfolgt als Unternehmensphilosophie das Ziel, mit neuen Methoden und Erkenntnissen ständig die eigenen Prozesse zu optimieren und zu erweitern. Unter diesem Gesichtspunkt soll in dieser Arbeit in Kooperation mit BCL untersucht werden, inwieweit sich die Ergebnisse aus einer Brandsimulation, darunter besonders der Rauch, in einer virtuellen Realität (engl. Virtual Reality (VR)) darstellen und in bestehende oder potenzielle Anwendungsfälle integrieren lassen. Dazu soll zunächst mit einer Betrachtung der brandschutztechnischen Grundlagen inklusive des BSIs und einer Analyse zum Stand des Brandschutzes in BIM begonnen werden. Im nächsten Schritt sind für die Brandsimulation bestimmte Fragen zu klären, wie z.B. eine entsprechende Berechnung technisch abläuft und welche Ausgabedaten und -formate eine solche Simulation bereitstellt. Zur Darstellung der Simulationsergebnisse in virtuellen Realitäten werden Grafik.Engines benötigt, die VR-Anwendungen ermöglichen. Wichtige Untersuchungsgegenstände sind z.B. die anwendbaren Programmier- und Skriptsprachen, mit deren Einsatz die Daten eingelesen und visualisiert werden können. Für die gefundenen Grafik-Engines wird dann recherchiert, ob es bereits bestehende Anwendungen oder Prozesse zur Darstellung von Brandsimulationen gibt. Ist dies der Fall, sollen deren Workflows untersucht werden, um anschließend ihre grundsätzliche Einsatzfähigkeit zu bewerten und Verbesserungsvorschläge zu äußern...:1. Prozesse im Brandschutz 1.1. Brandschutztechnische Grundlagen 1.2. Angewandte Ingenieurmethoden 1.3. Brandschutz mit Building Information Modeling 2. Ablauf einer Brandsimulation 2.1. Verfügbare Software 2.2. Aufbau einer FDS-Eingabedatei 2.3. Generieren von Simulationsdaten in FDS 2.4. Ausgabedaten und -formate 3. Software zur Darstellung in VR 3.1. Blender 3.2. Unity Engine 3.3. Unreal Engine 3.4. Vergleich der Engines 4. Visualisierung der Brandsimulation 4.1. Konzept der Datenübertragung 4.2. Bestehende Workflows für VR-Programme 4.3. Versuchsdurchführung 4.4. Auswertung der Versuche 5. Anwendungsfälle und Optimierungspotenzial 5.1. Potenzielle Einsatzmöglichkeiten 5.2. Optimierungspotenzial 6. Fazit A. Beispielmodell Blender B. Beispielmodell VRSmokeVis C. Prüfmodell Abkürzungsverzeichnis Abbildungsverzeichnis Tabellenverzeichnis Literaturverzeichnis / Digitization in the construction industry is progressing and while the keyword Building Information Modeling (BIM) is frequently mentioned, disciplines like the fire safety engineering are also evolving independently. The fire protection office Brandschutz Consult Ingenieurgesellschaft mbH Leipzig (BCL)) uses fire safety engineering for including engineering procedures. As a corporate philosophy BCL pursues the goal of constantly optimizing and expanding its own processes with new methods and scientific findings. From this point of view, in cooperation with BCL, this master thesis will examine to which extent it is possible to visualize the results of a fire simulation, in particular including the smoke, in Virtual Reality (VR) and to integrate them into existing or evolving applications. For this purpose, a consideration of the fire protection basics including fire protection engineering and an analysis of the status of fire protection in BIM has been started. In the next step the fire simulation must be investigated, i.e. how the corresponding calculation technically works and which output data and formats such a simulation provides. Graphic engines that enable VR applications are required to display the simulation results in VR. Important objects of investigation are e.g. the applicable programming and scripting languages. Those scripting languages are used to import and visualize the data. For the graphic engines found, research is initiated to determine whether there are already existing applications or processes for displaying fire simulations. If this is the case these workflows should be examined in order to subsequently evaluate their fundamental usability and to express suggestions for improvement. If possible, some of the optimizations should be carried out. Based on the existing processes in fire protection helpful application options are derived, for which the use must be proven in future projects.:1. Prozesse im Brandschutz 1.1. Brandschutztechnische Grundlagen 1.2. Angewandte Ingenieurmethoden 1.3. Brandschutz mit Building Information Modeling 2. Ablauf einer Brandsimulation 2.1. Verfügbare Software 2.2. Aufbau einer FDS-Eingabedatei 2.3. Generieren von Simulationsdaten in FDS 2.4. Ausgabedaten und -formate 3. Software zur Darstellung in VR 3.1. Blender 3.2. Unity Engine 3.3. Unreal Engine 3.4. Vergleich der Engines 4. Visualisierung der Brandsimulation 4.1. Konzept der Datenübertragung 4.2. Bestehende Workflows für VR-Programme 4.3. Versuchsdurchführung 4.4. Auswertung der Versuche 5. Anwendungsfälle und Optimierungspotenzial 5.1. Potenzielle Einsatzmöglichkeiten 5.2. Optimierungspotenzial 6. Fazit A. Beispielmodell Blender B. Beispielmodell VRSmokeVis C. Prüfmodell Abkürzungsverzeichnis Abbildungsverzeichnis Tabellenverzeichnis Literaturverzeichnis

Product visualization in AR/VR applications requires a largely manual process of data preparation. Previous publications focus on error-free triangulation or transformation of product structure data and display attributes for AR/VR applications. This paper focuses on the preparation of the required geometry data. In this context, a significant reduction in effort can be achieved through automation. The steps of geometry preparation are identified and examined concerning their automation potential. In addition, possible couplings of sub-steps are discussed. Based on these explanations, a structure for the geometry preparation process is proposed. With this structured preparation process, it becomes possible to consider the available computing power of the target platform during the geometry preparation. The number of objects to be rendered, the tessellation quality, and the level of detail (LOD) can be controlled by the automated choice of transformation parameters. Through this approach, tedious preparation tasks and iterative performance optimization can be avoided in the future, which also simplifies the integration of AR/VR applications into product development and use. A software tool is presented in which partial steps of the automatic preparation are already implemented. After an analysis of the product structure of a CAD file, the transformation is executed for each component. Functions implemented so far allow, for example, the selection of assemblies and parts based on filter options, the transformation of geometries in batch mode, the removal of certain details, and the creation of UV maps. Flexibility, transformation quality, and timesavings are described and discussed.

In situations where we want to use mixed reality systems over larger areas, it is necessary for these systems to maintain a correct orientation with respect to the real world. A solution for synchronizing the mixed reality and the real world over time is therefore essential to provide a good user experience. This thesis proposes such a solution, utilizing both a local positioning system named WISPR using Ultra Wide Band technology and an internal positioning system based on Google ARCore utilizing feature tracking. This is done by presenting a prototype mobile application utilizing the positions from these two positioning systems to align the physical environment with a corresponding virtual 3D-model. This enables increased environmental awareness by displaying virtual objects in accurately placed locations in the environment that otherwise are difficult or impossible to observe. Two transformation algorithms were implemented to align the physical environment with the corresponding virtual 3D-model: Singular Value Decomposition and Orthonormal Matrices. The choice of algorithm showed minimal effect on both positional accuracy and computational cost. The most significant factor influencing the positional accuracy was found to be the quality of sampled position pairs from the two positioning systems. The parameters used to ensure high quality for the sampled position pairs were the LPS accuracy threshold, sampling frequency, sampling distance, and sample limit. A fine-tuning process of these parameters is presented and resulted in a mean Euclidean distance error of less than 10 cm to a predetermined path in a sub-optimal environment. The aim of this thesis was not only to achieve high positional accuracy but also to make the application usable in environments such as mines, which are prone to worse conditions than those able to be evaluated in the available test environment. The design of the application, therefore, focuses on robustness and being able to handle connection losses from either positioning system. The resulting implementation can detect a connection loss, determine if the loss is destructive enough through performing quality checking of the transformation, and with this can apply both essential recovery actions and identify when such a recovery is deemed unnecessary.