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We present markerless camera tracking and user interface methodology for readily inspecting augmented reality (AR) objects in wearable computing applications. Instead of a marker, we use the human hand as a distinctive pattern that almost all wearable computer users have readily available. We present a robust real-time algorithm that recognizes fingertips to reconstruct the six-degree-of-freedom camera pose relative to the user's outstretched hand. A hand pose model is constructed in a one-time calibration step by measuring the fingertip positions in presence of ground-truth scale information. Through frame-by-frame reconstruction of the camera pose relative to the hand, we can stabilize 3D graphics annotations on top of the hand, allowing the user to inspect such virtual objects conveniently from different viewing angles in AR. We evaluate our approach with regard to speed and accuracy, and compare it to state-of-the-art marker-based AR systems. We demonstrate the robustness and usefulness of our approach in an example AR application for selecting and inspecting world-stabilized virtual objects.
Lee et al. (Mon,) studied this question.