IS-1500 User Guide
Thales Visionix, Inc.
MNL- 0024 (D)
Page 25 of 59
3.3
Tracking using VINS in Tracking State 1
When the Tracking State is in Mode 1 (Tracking, Relative), the system is producing accurate tracking data using VINS to track off natural
features. It is possible to continue tracking this way accurately for about 250 meters (in ideal conditions) without using a fiducial
constellation to correct for drift.
1.
To view the features InertiaCam is tracking off of, use the Optical Data Display.
a.
Click the Displays drop down in the top left of the window and select Optical Data Display to open it as a tab.
b.
Click the Image Transfer button towards the top of the tab to begin streaming live camera feed from the InertiaCam.
c.
Next click the VINS Image (not supported with embedded settings) button to show the features recognized by the VINS
algorithm. Figure 20 shows the VINS Image while viewing an assortment of items.
Figure 20 – VINS Image
2.
While the NFT is in State 1, position and orientation will be relative to the starting position and orientation. To view the position
and orientation of the tracker relative to the starting position, use the 3D Data Display shown in Figure 20.
a.
Go to the Displays drop down and select 3D Data Display to open that up as another tab.
b.
While in State 1, the starting position is located at the center of the grid. The tracker is represented by the point with XYZ
axes. As the tracker rotates, the orientation of the axes change. Changes in position leave behind a yellow trail.
c.
Left clicking on the graph will orient the view, right clicking can be used to pan, and the center wheel can be used to
zoom in and out.
Figure 21 – 3D Data Display