A Hybrid RTK GNSS and SLAM Outdoor Augmented Reality System

In the real world, we are surrounded by potentially important data. For example, military personnel and first responders may need to understand the layout of an environment, including the locations of designated assets, specified in latitude and longitude. However, many augmented reality (AR) systems cannot associate absolute geographic coordinates with the coordinate system in which they track. We describe a simple approach for developing a wide-area outdoor wearable AR system that uses RTK GNSS position tracking to align together and georegister multiple smaller maps from an existing SLAM tracking system.