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Paul McIlroy, University of Cambridge
Shahram Izadi, Microsoft Research Cambridge
Andrew Fitzgibbon, Microsoft Research Cambridge

We present KinecTrack, a new six degree-of-freedom (6-DoF) tracker which allows real-time and low-cost pose estimation using only commodity hardware. We decouple the dot pattern emitter and IR camera of the Kinect. Keeping the camera fixed and moving the IR emitter in the environment, we recover the 6-DoF pose of the emitter by matching the observed dot pattern in the field-of-view of the camera to a pre-captured reference image. We propose a novel matching technique to obtain dot pattern correspondences efficiently in wide- and adaptive-baseline scenarios. We also propose an auto-calibration method to obtain the camera intrinsics and dot pattern reference image.

The performance of HoloTrack is comparable to much more expensive systems. Our system can simultaneously recover the 6-DoF pose of the device and also recover piecewise planar 3D scene structure, and can be used as a low-cost method for tracking a device without any onboard computation, with small size and only simple electronics.