POMAR 3D - Positioning and Orientation Module for a Mobile Augmented Reality Client for Real Time 3D Visualization of Underground Infrastructure

Popularity of three-dimensional city models is increasing rapidly. The project POMAR 3D continues a project called VIDENTE, which addresses the visualization of "underground city infrastructure".

Short Description

VIDENTE, which is a research project in the area of Augmented Reality (AR), describes a prototype for three-dimensional visualization of underground infrastructure in real time.

The end user will carry a handheld AR-client, which is able to provide the user with additional graphical information like supply pipelines (e.g. gas, electricity, etc.) depending on their position and orientation. A major issue in this project determines the position and orientation of the mobile AR-client in real time. This is necessary to properly superimpose the additional three- dimensional features on the real scene.

In this context, the goal of POMAR 3D is the development of an integrated positioning and orientation module, which fits the high requirements of the VIDENTE AR-client. Integrating GNSS like GPS, EGNOS or GLONASS and a low-cost inertial measurement unit with the AR-client assures to accomplish the essential precision of position and orientation.

Furthermore, high availability of the sensor data is of great interest. This is necessary to achieve a correct overlay of virtual underground infrastructure with the real word scenes. Additionally, the form factor of the AR-client plays a very important role as well. Therefore, besides delivering high precision data, the positioning and orientation module has to meet high demands regarding ergonomic issues of the setup, namely for size and weight.

When POMAR 3D started within the VIDENTE project, an efficient analysis of the necessary precision of position and orientation of the AR-client was performed. Having finished this step suitable hardware was acquired. This mainly consisted of a GNSS receiver and an inertial measurement unit. Parts of the module planned in POMAR 3D are implemented either in hardware or in software. After the system integration with the AR-client, the system is verified and tested under different conditions.

The main result of POMAR 3D is an integrated module for high precision measurement of position and orientation which is used within the AR-client. Furthermore, extensive evaluations with potential customers like utility companies, which have the need to manage their underground infrastructure, will be performed.

Project Partners


Graz University of Technology, Institute for Computer Graphics and Vision - Dieter Schmalstieg, Gerhard Schall


Graz University of Technology, Institute of Navigation and Satellite Geodesy - Bernhard Hofmann-Wellenhof, Norbert Kühtreiber

Contact Address

Graz University of Technology
Institute for Computer Graphics and Vision
Inffeldgasse 16a/2nd floor
A-8010 Graz
Web: www.icg.tugraz.at

Dieter Schmalstieg
E-mail: schmalstieg@icg.tugraz.at

Gerhard Schall
E-mail: schall@icg.tugraz.at