Coregistration of pose measurement devices using nonlinear least squares parameter estimation

Multimodal visual haptic user interfaces can be made more effective by accurately colocating the workspaces of their components. We have developed a coregistration technique for pose measurement devices based on nonlinear least squares parameter estimation. A reduced quaternion parameterization is used for representing the orientation component of coordinate transformations, which avoids the numerical instability of traditional approaches. The method is illustrated with two examples: the colocation of a haptic device with a position tracker, and the coregistration of an optical and a magnetic tracking system.