A robust hybrid tracking system for outdoor augmented reality

We present a real-time hybrid tracking system that integrates gyroscopes and line-based vision tracking. Gyroscope measurements are used to predict pose orientation and image line feature correspondences. Gyroscope drift is corrected by vision tracking. System robustness is achieved by using a heuristic control system to evaluate measurement quality and select measurements accordingly. Experiments show that the system achieves robust, accurate, and real-time performance for outdoor augmented reality