Uncertainty boundaries for complex objects in augmented reality

Registration errors between the physical world and computer-generated objects are a central problem in Augmented Reality (AR) systems. Some existing AR systems have demonstrated how to dynamically estimate registration errors based on estimates of spatial errors in the system. Using these error estimates, these systems also demonstrated a number of ways of ameliorating the effects of registration error. One central part of this previous work was the creation and use of error regions around objects; unfortunately, the analytic methods used only created accurate regions for simple convex objects. In this paper, we present a simple and stable algorithm for generating the uncertainty regions for complex objects, including non-convex objects and objects with interior holes. We demonstrate how our approach can be used to create a set of more accurate error-based highlights in the presence of registration error, and also be used as a general highlighting mechanism.