P. Sénac, M. Ott, and A. Seneviratne (Eds.): MobiQuitous 2010, LNICST 73, pp. 137–148, 2012. © Institute for Computer Sciences, Social Informatics and Telecommunications Engineering 2012 Real Time Six Degree of Freedom Pose Estimation Using Infrared Light Sources and Wiimote IR Camera with 3D TV Demonstration Ali Boyali 1 , Manolya Kavakli 1 , and Jason Twamley 2 1 VISOR (Virtual and Interactive Simulations of Reality), Research Group, Department of Computing, 2 Physics Department, Macquarie University Balaclava Road North Ryde NSW 2109, Australia {ali.boyali,manolya.kavakli,jason.twamley}@mq.edu.au Abstract. The goal of this paper is to present the development of a tracking technology to interact with a virtual object. This paper presents the general procedures of building a simple, low cost tracking system by using Wiimote (a remote of Nintendo game console) and the Open source Computer Vision (OpenCV) software library as well as interfacing the tracking system with an immersive virtual environment (Vizard). We used an iterative position and orientation estimation (POSIT algorithm) which is optimized as an OpenCV function for extracting position parameters. We filter out the noise in the coordinate values using Kalman filters. The orientation and translation of the tracked system are then used to manipulate a virtual object created in the virtual world of Vizard. Our results indicate that it is possible to implement an inexpensive and efficient application for interacting with virtual worlds using a Wiimote and appropriate digital filters. Keywords: WiimoteIR tracking, 6 DOF pose estimation, OpenCV, 3D TV visualization. 1 Introduction Tracking of moving objects has a wide variety of application areas including medical science, interactive entertainment, gaming, control technologies and military applications. Motion tracking can be performed either by tracking a moving object with a fixed capturing device or by capturing movement of a camera using stationary objects. The information related to motion in both cases is extracted and used according to the requirements of the systems. One useful technology for optical motion tracking are Infra-Red (IR) cameras which can report the 2D projected coordinates of IR light sources. The reported 2D projected coordinates of a known specific 3D arrangement of IR sources are then