Optical tracking system based on COTS components

Abstract

This paper deals with the design of an indoor optical tracking system based on commercially available off-the-shelf products. In the proposed system, four V2 NoIR Raspberry cameras are connected to various Raspberry Pi boards (Model 3B, 3B+, and 4) as capture stations. In this work, algorithms for clock synchronization, rapid contour extraction, and intrinsic camera calibration are discussed. The size, layout, illumination, and safety of an arena are also addressed, as well as construction issues like non-uniform lighting or noisy reflections. The system's accuracy is sub-centimeter at a frame rate of 100Hz, which is comparable to the performance of the proprietary and commercially available optical tracking systems. These results demonstrate that the proposed solution is feasible and show the correctness of the suggested methodology.