IS-1500 User Guide
Thales Visionix, Inc.
MNL- 0024 (D)
Page 18 of 59
Figure 11 – Divergence
The tracker will continue to diverge and reset until vision is restored and natural features can be found again, as shown in Figure 12.
When the divergence is detected and the filter reset, the system will place the position back at the last location accurate data was
recorded. Orientation will be relatively unaffected. Because the filter is reset, when recovering from a divergence, it is best to treat
the tracker as though it was just initialized. This means while the system recovers from a divergent state after the camera has been
obstructed, it is best to keep the tracker still at first, then exercise it or (if using a fiducial constellation to set a world frame) bring
fiducials in view.
Figure 12 – Continued Divergences