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Drift correction using a multi rate extended Kalman filter

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Figure

Figure 1: Outside-in tracking using three optical sensors. The user can be equipped with markers for tracking or identification.
Figure 2: Inside-out tracking. A camera mounted on the head mounted display allows for pose estimation of the person's head
Figure 3: A collection of different markers used by different libraries.
Figure 4: When a user rotates him/ her-self onthe pivot point of the XME head position, the XME will not perceive a change in the position
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