Ko, Hoi Fung. / "November 2011." / Thesis (M.Phil.)--Chinese University of Hong Kong, 2012. / Includes bibliographical references (p. 121-125). / Abstracts in English and Chinese. / Abstract --- p.i / Acknowledgement --- p.iv / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation and Objective --- p.1 / Chapter 1.2 --- Contribution --- p.9 / Chapter 1.3 --- Organization of the Thesis --- p.11 / Chapter 2 --- Background Study --- p.12 / Chapter 2.1 --- Review on 3D Tracking Techniques --- p.13 / Chapter 2.1.1 --- Mechanical base --- p.13 / Chapter 2.1.2 --- Acoustic base --- p.14 / Chapter 2.1.3 --- Magnetic base --- p.15 / Chapter 2.1.4 --- Inertial base --- p.17 / Chapter 2.1.5 --- Optical base --- p.18 / Chapter 2.2 --- Summary --- p.19 / Chapter 3 --- Theory and Methodology --- p.21 / Chapter 3.1 --- Design Framework --- p.21 / Chapter 3.1.1 --- Problem Definition --- p.22 / Chapter 3.1.2 --- Concept --- p.22 / Chapter 3.2 --- Finding the orientation --- p.23 / Chapter 3.2.1 --- Measuring the rotation --- p.23 / Chapter 3.2.2 --- Sensor fusion --- p.26 / Chapter 3.3 --- Finding the translational motion --- p.32 / Chapter 3.3.1 --- Translational motion --- p.32 / Chapter 3.3.2 --- Laser speckle pattern --- p.35 / Chapter 4 --- Implementation --- p.38 / Chapter 4.1 --- Hardware Configuration --- p.38 / Chapter 4.1.1 --- Accelerometer --- p.39 / Chapter 4.1.2 --- Gyroscope --- p.40 / Chapter 4.1.3 --- Digital Compass --- p.41 / Chapter 4.1.4 --- Optical flow chip --- p.42 / Chapter 4.1.5 --- Microcontroller --- p.43 / Chapter 4.2 --- Software Implementation --- p.45 / Chapter 4.2.1 --- On the Microcontroller --- p.45 / Chapter 4.2.2 --- On the PC --- p.47 / Chapter 5 --- Experimental Results --- p.50 / Chapter 5.1 --- Experiments on orientation estimation --- p.50 / Chapter 5.1.1 --- Overall Experimental Setup --- p.51 / Chapter 5.1.2 --- Experiment 1: The improvement of static accuracy by utilising two-axis measurement method --- p.52 / Chapter 5.1.3 --- Experiment 2: The improvement of the dynamic response with Kalman filter and gyroscope --- p.55 / Chapter 5.1.4 --- Experiments 3: The static accuracy of the compass module --- p.59 / Chapter 5.1.5 --- Experiment 4: The dynamic accuracy of the compass module with Kalman filter and gyroscope --- p.63 / Chapter 5.1.6 --- Experiment 5: Kalman filter tuning --- p.64 / Chapter 5.2 --- Experiment on Translational accuracy --- p.67 / Chapter 5.2.1 --- Experiment 6: The relation between the output of the chip and the actual displacement --- p.68 / Chapter 5.2.2 --- Experiment 7: Tracking ability with different materials --- p.70 / Chapter 6 --- The Haptic module --- p.73 / Chapter 6.1 --- Introduction --- p.73 / Chapter 6.2 --- Theory of operation --- p.75 / Chapter 6.3 --- Implementation --- p.77 / Chapter 6.4 --- Experiment and evaluation --- p.80 / Chapter 6.4.1 --- Experiment 1: Calibration of the spring . --- p.80 / Chapter 6.4.2 --- Experiment 2: Latency on force output . . --- p.82 / Chapter 6.5 --- Possible applications --- p.85 / Chapter 7 --- 3D input for immersive display --- p.87 / Chapter 7.1 --- Methodology --- p.88 / Chapter 7.1.1 --- Tracking method --- p.89 / Chapter 7.2 --- Implementation --- p.96 / Chapter 7.2.1 --- Hardware setup --- p.96 / Chapter 7.2.2 --- Software implementation --- p.97 / Chapter 7.2.3 --- Setup Calibration --- p.98 / Chapter 7.2.4 --- Laser Spot Detection --- p.99 / Chapter 7.2.5 --- Pose Estimation --- p.100 / Chapter 7.2.6 --- State Tracking --- p.102 / Chapter 7.3 --- Experiment --- p.105 / Chapter 7.3.1 --- Experiment on translational motion --- p.105 / Chapter 7.3.2 --- Experiment on rotational motion --- p.106 / Chapter 7.3.3 --- Experiment on tracking ability --- p.108 / Chapter 7.4 --- Application --- p.109 / Chapter 8 --- Limitations and Discussions --- p.110 / Chapter 8.1 --- The limitation of the orientation tracking module --- p.110 / Chapter 8.2 --- The limitation of the translational motion tracking module --- p.111 / Chapter 8.3 --- The limitation of the haptic module --- p.112 / Chapter 8.4 --- The limitation of the tracking cube setup --- p.113 / Chapter 8.5 --- Comparison of the result of utilizing simple moving average filter and Kalman filter --- p.114 / Chapter 8.6 --- Comparison with other devices on the market --- p.115 / Chapter 8.7 --- Future work --- p.115 / Chapter 9 --- Conclusion --- p.117 / Bibliography --- p.121
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_327619 |
| Date | January 2012 |
| Contributors | Ko, Hoi Fung., Chinese University of Hong Kong Graduate School. Division of Computer Science and Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, [2], xix, 125 p. : ill. (chiefly col.) ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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