Pose tracking
![](/en/rm/images/roboter_und_systeme/3d-scanner/3d-modellierer_-3dmo/pose_tracking.jpg/@@images/image-400-b059a86db9442abf5ac92558fe335f41.jpeg)
Pose tracking using 3DMo
IR-reflecting markers can be attached to the DLR 3D-Modeler in order to provide contact-free pose tracking without the need of a robotic manipulator or an external positioning system like the FaroArm. We predominantly used the ARTtrack2 system for optical pose tracking. That system does, however, severely constrain the DLR 3D-Modeler in terms of size, potential mobility, and cost. For this reason, we opted for a novel implementation of passive pose tracking using the high-rate images of the stereo camera. The system is now called self-referenced DLR 3D-Modeler and is featured in the following video.