修士課程1年 後藤君が韓国・大田で開催されたIEEE ISMAR 2025でポスター発表しました．

Abstract: Effective localization and tracking are cornerstones of immersive Mixed Reality (MR). However, existing systems often fail in environments with complex motion, such as the interior of a moving vehicle. This setting presents unique challenges, including conflicting visual information and corrupted inertial sensor data. We propose a novel hierarchical system for in-vehicle MR that separates the user’s pose relative to the vehicle from the vehicle’s global pose. By using an edge device with a high-precision Global Navigation Satellite System (GNSS) receiver and an Inertial Measurement Unit (IMU) to estimate the vehicle’s state, and fusing gyroscope-based tracking with marker-based localization for the user, our system demonstrates a promising approach. Experiments show our method significantly outperforms a commercial solution, reducing the average localization error from 164.68m to 8.45m.

Daisuke Goto, Sungmin Lee, Akira Tsuge, Shuri Marui, Soko Aoki, JeongGil Ko, Tadashi Okoshi. “Hierarchical Localization and Tracking for In-Vehicle Mixed Reality”. IEEE ISMAR 2025, Daejeon, Korea