TRACKERS LIST

Vendors and Products:

InterSense
product: InterGlide ™ IS-300 series
method: inertial
update rate: 125Hz- 500Hz
outputs: orientation
DOF: 3
latency: 2ms
range: 20ft
WWW: http://www.isense.com/

Ascension Technology Corp.
product: Flock of Birds ®
P.O. Box 527
Burlington, VT 05402
(802) 860-6440
e-mail ascension@world.std.com
[Online: WWW] http://www.ascension-tech.com/
method: magnetic
frequency: 144Hz
DOF: 6
latency: N/A
#Rcvrs: 30
range: 3ft
accuracy: 0.1in, 0.5deg
price: @2695
Comments: $2200/rcvr

Ascension Technology Corp.
product: MotionStar ™ and MotionStar ™ Wireless
P.O. Box 527
Burlington, VT 05402
(802) 860-6440
e-mail ascension@world.std.com
[Online: WWW] http://www.ascension-tech.com/
method: magnetic
DOF: 6 (position and orientation)
update rate: up to 144 measurements/second
outputs: x,y,z positional coordinates and orientation angles
Maximum # of sensors (receivers): 120
Angular range: All-attitude: ± 180 ° Azimuth & Roll
accuracy: 0.1in, 0.5deg

Ascension Technology Corp.
product: pcBIRD ±
P.O. Box 527
Burlington, VT 05402
(802) 860-6440
e-mail ascension@world.std.com
[Online: WWW] http://world.std.com/~ascend/
method: magnetic
DOF: 6 (position and orientation)
latency: 10msec
resolution: 0.02" RMS (position), 0.1 ™
update rate: up to 144 measurements/second
outputs: x,y,z positional coordinates and orientation angles, rotation matrix or quaternions

Ascension Technology Corp.
product: SpacePad
P.O. Box 527
Burlington, VT 05402
(802) 860-6440
e-mail ascension@world.std.com
[Online: WWW] http://www.ascension-tech.com/
method: magnetic
update rate: 120/second for one receiver; 60/second for each of two, 30/seconf for each of four
outputs: x,y,z position, Euler angles, rotation matrix
number of receivers: up to four
transmitter size: 16' X 16'
price: $984 for a single-receiver mode

FakeSpace, Inc.
product: BOOM3C
4085 Campbell Ave.
Menlo Park, CA 94025
(415) 688-1940
e-mail fakespce@well.com
[Online: WWW] http://www.fakespace.com/
method: mechanical
frequency: >70Hz
DOF: 6
latency: 200msec
resolution: 0.1deg
working volume: 6ft diam, 2.5ft high
price: $95,000

FakeSpace, Inc.
product: head coupled displays that provide mechanical tracking (FS2. BOOM3C, PUSH)
4085 Campbell Ave.
Menlo Park, CA 94025
(415) 688-1940
e-mail fakespce@well.com
[Online: WWW] http://www.fakespace.com/
method: mechanical
frequency: >70Hz
DOF: 6
latency: 200msec
resolution: 0.1deg
working volume: 2ft diameter

General Reality Co.
product: CyberTrack II
124 Race St.
San Jose, CA 95126
(408) 289-8340
e-mail Sales@GenReality.com
[Online: WWW] http://www.GenReality.com
Tracking Method: Electronic compass plus tilt sensors
Degrees of Freedom: 3 (bearing, pitch, roll)
Tracking Sample Rate: 15khz, output at 60hz max (latency < 30msec.)
Accuracy: +-2s RMS heading; +-2s tilt
Resolution: 0.5s heading; 0.5s tilt
Repeatability: +-0.5sheading; 0.5s tilt
Operating Range: 360s horizontal; +-45s tilt
Operating Temperature: -20s to 70s c
Tracking Data Output: ASCII into DB-25 RS-232C serial port
Size & Weight: 3.0" x 2.5" x 1.5", 2oz.
Power: 6-12mA @ 9VDC or + 5VDC regulated

Lipman
product: Vscope
method: ultrasonic
frequency: 100Hz
DOF: 3
latency: 2ms
#Rcvrs: 1
range: 12ft
accuracy: N/A
price: $2800

Northern Digital, Inc.
product: OPTOTRAK 3020
403 Albert St.
Waterloo, Ontario Canada N2L 3V2
(519) 884-5142
e-mail sales@ndigital.com
[Online: WWW] http://www.ndigital.com
method: optical
frequency: 600Hz
DOF: 6
resolution: 0.01mm at 2.25m
price: $57,400

Origin Instruments Corp.
product: DynaSight
854 Greenview Dr.
Grand Prarie, TX 75050-2438
(214) 606-8740
[Online: WWW] http://www.orin.com/
method: optical
frequency: 64Hz max
DOF: 3
latency: 16-31msec
resolution: 0.1mm cross range, 0.4mm down range
working volume: 0.1 - 1.5m for 7mm target, up to 1 - 6m for 7mm target
price: $2,195

Polhemus Inc.
product: FasTrak
One Hercules Dr.
P.O. Box 560
Colchester, VT 05446
(800) 357-4777 or (802) 655-3159
e-mail product_info@polhemus.com
[Online: WWW] http://www.polhemus.com/trackers
method: magnetic
frequency: 30 Hz
DOF: 6
latency: 4ms
#Rcvrs: 4
range: 10ft
accuracy: 0.03in, 0.15deg
price: $6050

Polhemus Inc.
product: InsideTrak
One Hercules Dr.
P.O. Box 560
Colchester, VT 05446
(800) 357-4777 or (802) 655-3159
e-mail product_info@polhemus.com
[Online: WWW] http://www.polhemus.com
method: magnetic
frequency: 30 Hz
DOF: 6
latency: 12ms
#Rcvrs: 2
range: 5ft
accuracy: 0.5in, 2.0deg
price: $999

Polhemus Inc.
product: IsoTrak II
One Hercules Dr.
P.O. Box 560
Colchester, VT 05446
(800) 357-4777 or (802) 655-3159
e-mail product_info@polhemus.com
[Online: WWW] http://www.polhemus.com
method: magnetic
frequency: 30 Hz
DOF: 6
latency: 20ms
#Rcvrs: 2
range: 5ft
accuracy: 0.1in, 0.75deg
price: $2875

Polhemus Inc.
product: Ultratrak Pro
One Hercules Dr.
P.O. Box 560
Colchester, VT 05446
(800) 357-4777 or (802) 655-3159
e-mail product_info@polhemus.com
[Online: WWW] http://www.polhemus.com/trackers
method: magnetic
frequency: 30-60Hz
DOF: 6
latency: 6msec
resolution: 0.05in at 5ft range, 0.25ft at 15ft range, 0.1degRMS
working volume: 2-15ft
price: $23,250-$32,250

Precision Navigation, Inc.
product: Wayfinder - VR
1235 Pear Ave., Suite 111
Mountain View, CA 94043
(415) 962-8777
[Online: WWW] http://www.pcweb.com/pni
method: sourceless, non-inertial
frequency: 30Hz
DOF: 3
latency: 33.3msec
resolution: +/-0.1deg heading, +/-0.1deg tilt
working volume: 360deg horiz. +/-20deg, +/-50deg tilt
price: $599-$699

Qualisys, Inc.
product: MacReflex
method: optical
frequency: 50-200Hz
DOF: 6
working volume: 0.5-30m (indoors), 0.5-9m (outdoors)
price: $38,500-$48,500

RPI Advanced Technology Group
product: Mouse-Sense 3D
method: sourceless, non-inertial
frequency: 8Hz
DOF: 3
latency: 125msec
resolution: +/-1deg heading, +/-1deg tilt
working volume: 360deg horiz., +/-25-55deg tilt
price: $750

Science Accessories Corp.
product: GP12-3D (Freepoint 3D)
method: acoustic(ultrasonic)
frequency: 150Hz/number of emitters
DOF: 3
resolution: 0.002in
working volume: 3.25 X 3.25 X 3.25ft, up to 16 X 8 X 8ft
price: $4,995-$6,995

Selcom AB
product: SELSPOT II
method: optical
frequency: 10Khz
DOF: 6
resolution: 0.025% of millirad
working volume: up to 200m
price: $29,980

Shooting Star Technology
product: ADL-1
52023 Yale Rd.
Rosedale RR1
BC VOX 1X0, Canada
(604) 794-3364
frequency: 240Hz
DOF: 6
latency: 0.35-1.8msec
resolution: 0.25in, 0.15-0.3deg
working volume: 36in diameter, 18in high
price: $1,299

Systron-Donner
product: MotionPak
method: inertial
frequency: 60Hz
DOF: 6
resolution: 0.004deg/sec
price: $10,000

ThemeKit Ltd
product: MindRender (API)
1 Gorse Lane
Oadby
Leicester
LE2 4RR
United Kingdom
+44 (0)181 543 5346
[Online: WWW] http://themekit.co.uk
platform: DOS
price: $150-$600

Online Resources:

Ian's VR Buying Guide. [Online: WWW] http://www.cs.jhu.edu/~feldberg/vr/vrbg.html

References:

Durlach, N. et. al (1995). Position Tracking and Mapping. In N. Durlach & A. S. Mavor (Eds.), Virtual Reality: Scientific and Technological Challenges, (pp. 188-204). Washington, D.C.: National Academy Press.

Adelstein, A., Johnston, E. R., & Ell is, S. R. (1996). Dynamic Response of Electromagnetic Spatial Displacement Trackers. Presence, 5(3), 302-318.

Akka, R. (1993) Utilizing 6D Head-Tracking Data for Stereoscopic Computer Graphics Perspective Transformations. In Proceedings of the Stereoscopi c Displays and Applications IV , (pp. 147-154). Bellingham, WA: SPIE.

Azarbayejani, A., & Pentland, A. (1995). Camera Self-Calibration from One Point Correspondence (Perceptual Computing Technical Report 341): MIT Media Laboratory.

Azuma, R. (1993). Tracking Requirements for Augmented Reality. Communications of the ACM, 36(7), 50-51.

Azuma, R. (1995) . A Survey of Augmented Reality. In Proceedings of the SIGGRAPH 95, (pp. 1-40). New York: ACM.

Azuma, R. (1995). "Predictive Tracking for Augment ed Reality". UNC Technical Report #TR95-007. Chapel Hill, NC: Computer Science Dept., University of North Carolina. [Online:FTP]ftp://ftp.cs.unc.edu/pub/publications/techreports/95-007.tar.Z

Azuma, R., & Bishop, G. (1994). Improving Static and Dynamic Registration in an Optical See-Through HMD. In Proceedings of the SIGGRAPH 94, (pp. 197-204). New York: ACM. Bajura, M., & Neumann, U. (1995). Dynamic Registration Correction in Augmented-Reality Systems. In Proceedings of the VRAIS '95, (pp . 189-196). Los Alamitos, CA: IEEE.

Bible, S.R., Zyda, M. and Brutzman, D. (1995). "Using Spread-Spectrum Ranging Techniques for Position Tracking in a Virtual Environment" in the Proceedings of the 1995 Workshop on Networked Realities, Boston, MA, October 26-28, 1995. [Online: WWW] http://www-npsnet.cs.nps.navy.mil/npsnet/publications/NR95-Paper-Bible.pdf

Brill, L., & Milano, D. (1996, August 1996). Performance Animation Technologies. Interactivity, 31-36. Bryson, S. (1992). Measurement and Calibration of Static Distortion of Position Data from 3D Trackers (RNR Tech nical Report RNR-92-011): NASA.

Bryson, S., Feiner, S., Brooks, F. P., Hubbard, P., Pausch, R., & van Dam, A. (1994) . Research Frontiers in Virtual Reality. In Proceedings of the SIGGRAPH 94, (pp. 473-474). New York: ACM.

Cameron, A.A., Trythall, S., Barton, A.M. (1995). "Helmet Trackers - The future". In Proceedings of Helmet and Head Mounted Displays and Symbology Design, Requirements II (volume 2465, pp. 281-295). Bellingham, WA: SPIE.

Clingan, M. S., & Parise, M. J. (1990). Real -Time Space Stabilized Digital Gimbal. In Proceedings of the Hemet-Mounted Displays II, (pp. 120-127). Bellingham, WA: SPIE.

Clymer, M., & Graves, G. (1994). New Approaches in Magnetic Sensing for Tracking Devices. In Proceedings of the Stereoscopic Displays and Virtual Reality Systems, (pp. 288-296). Bellingham, WA:

Fisher, S. Drascic, D. (1993). Stereoscopic Video and Augmented Reality. Scientific Computing and Automation, 9(7), 31-34. Feiner, S., MacIntyre, B., Haupt, M., & Solomon, E. (1993) . Windows on the World: 2D Windows for 3D Augmented Reality. In Proceedings of the UIST '93, (pp. 145-155). New York: ACM.

Ferrin, F. J. (1991). Survey of Helmet Tracking Technologies. In Proceedings of the Large-Screen-Projection, Avionic, and Helmet-Mo unted Displays , (pp. 86-94). Bellingham, WA: SPIE.

Foxlin, E. (1996). Intertial (sic) Head-Tracker Sensor Fusion by a Complementary Separate-Bias Kalman Filter. In Proceedings of the VRAIS '96, (pp. 185-194). Los Alamitos, CA: IEEE.

Foxlin, E., & D urlach, N. (1994). An Inertial Head-Orientation Tracker with Automatic Drift Compensation for Use With HMD's. In Proceedings of the VRST '94, (pp. 159-173). New York: ACM. Hollands, R. (1995, April 1995). Sourceless Trackers. VR News, 4, 23-29.

Hinckley, K. , Pausch, R., Goble, J. C. and Kassell, N. F. (1994). "A survey of design issues in spatial input". In Proceedings of UIST `94. Seventh Annual Symposium on User Interface Software and Technology. ( pp. 213-222). New York, NY: ACM.

Kim, D. , Richards, S. W., & Caudell, T. P. (1997, forthcoming). Optical Tracker for Augmented Reality and Wearable Computer , submitted to VRAIS '97.

Madritsch, F., Leberl, F., & Gervautz, M. (1996). Camera Based Beacon Tracking: Accuracy and Applicatio ns. In Proceedings of the VRST'96, (pp. 101-108). New York: ACM.

Meyer, K., Applewhite, H.L. and Biocca, F. (1992). "A Survey of Position Trackers". Presence 1(2), 173-200.

Milgram, P., & Kishino, F. (1994). A Taxonomy of Mixed Reality Vi sual Displays. IEICE Transactions on Information Systems, E77-D(12).

Milgram, P., Takemura, H., Utsumi, A., & Kishino, F. (1994). Augmented Reality: A Class of Displays on the Reality-Virtuality Continuum. In Proceedings of the Telemanipulator and Tel epresence Technologies, ). Bellingham, WA: SPIE.

Rekimoto, J. (1995). A Vision-Based Head Tracker for Fish Tank Virtual Reality - VR Without Head Gear -. In Proceedings of the VRAIS '95, (pp. 94-100). Los Alamitos, CA: IEEE.

Strickland, D., Patel, A., S tovall, C., Palmer, J., & McAllister, D. (1994). Self Tracking of Human Motion for Virtual Reality Systems. In Proceedings of the Stereoscopic Displays and Virtual Reality Systems, (pp. 278-287). Bellingham, WA: SPIE.

Wu, J.-R., & Ouhyoung, M. (1 995). A 3D Tracking Experiment on Latency and Its Compensation Methods in Virtual Environments. In Proceedings of the UIST '95, (pp. 41-49). Pittsburgh, PA: UIST.

Yamaguchi, H., Tomono, A., & Kobayashi, Y. (1989) . Proposal for a Large Visual Field D isplay Employing Eye Movement Tracking. In Proceedings of the Optics, Illumination, and Image Sensing for Machine Vision IV, (pp. 13-20). Bellingham, WA: SPIE.

Youngblut, C., Johnson, R.E., Nash, S. H., Wienclaw, R.A. and Will, C.A. (1996). "Tracking Interfaces". In Review of Virtual Environment Interface Technology , IDA Paper P-3186 (pp. 47-77). Alexandria, VA: Institute for Defense Analyses.