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Methods and systems for object tracking

  • US 9,341,704 B2
  • Filed: 04/13/2011
  • Issued: 05/17/2016
  • Est. Priority Date: 04/13/2010
  • Status: Active Grant
First Claim
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1. A system for tracking motion of an object comprising:

  • an object comprising a plurality of optical markers rigidly connected to the object and an inertial transmitter for transmitting high speed signals of object movement;

    at least one camera for imaging said plurality of markers and generating image data indicative of the object location;

    a receiver for receiving inertial movement signals from the inertial transmitter; and

    a processor for executing an estimation algorithm, the estimation algorithm merging the optically-derived image data and the high speed inertial movement signals to generate estimated motion data at a frequency of 300-500 Hz, wherein the estimation algorithm is a multiplicative extended kalman filter and operates directly on raw image data comprising a plurality of two dimensional pixel coordinates.

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