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Intuitive robot programming through use of tracked smart input devices relieson fixed, external tracking systems, most often employing infra-red markers.Such an approach is frequently combined with projector-based augmented realityfor better visualisation and interface. The combined system, although providingan intuitive programming platform with short cycle times even for inexperiencedusers, is immobile, expensive and requires extensive calibration. When facedwith a changing environment and large number of robots it becomes sorelyimpractical. Here we present our work on infra-red marker tracking using theMicrosoft HoloLens head-mounted display. The HoloLens can map the environment,register the robot on-line, and track smart devices equipped with infra-redmarkers in the robot coordinate system. We envision our work to provide thebasis to transfer many of the paradigms developed over the years for systemsrequiring a projector and a tracked input device into a highly-portable systemthat does not require any calibration or special set-up. We test the quality ofthe marker-tracking in an industrial robot cell and compare our tracking with aground truth obtained via an ART-3 tracking system.

Inside-out Infrared Marker Tracking via Head Mounted Displays for Smart Robot Programming