Infinite Script

Always Moving: 6D Poses for a Wearable Fisheye Rig

In the last post I calibrated eight ZED cameras bolted to a room’s walls so OptiTrack’s 3D positions could be projected onto each image. Those cameras never moved: one 6-DOF pose per camera is the whole answer. This post is the opposite case: a rig worn on a person, moving every frame. The goal is the same, but “the pose” is now a trajectory recovered at 20 Hz for the entire take, which changes which tools work. The rig is Homie, Ropedia’s four-camera egocentric setup for recording manipulation data: a person wears it, does a task with their hands, and we want every tracked object and finger marker to land on the right pixel.