Multi-vehicle cooperative military training simulation system based on augmented reality

The military training systems based on augmented reality(AR) present challenges for cooperation training and confrontation training. In this paper, we propose a multi-vehicle cooperative military training simulation system based on video see-Through AR. Our system combines robust tracking algorithm, realistic AR display and network module to overlay virtual forces accurately on each soldier's real-world view. We present our tracking algorithm using a monocular camera in combination with an inertial measurement unit(IMU) and GPS in a loosely coupled Extended Kalman Filter(EKF)-based framework to obtain robust and real-Time pose estimation. Our AR display provides real-Time dynamic painting of virtual forces, battlefield situational awareness, and visual feedback for a variety of training activities. The inserted virtual forces can move in a pre-defined trajectory and shoot real vehicles in the specified range. The network module is used to support multi-vehicle real-Time cooperative training. We evaluate the accuracy of the tracking algorithm by comparing with DGPS. The consistency of rendering on different soldiers' AR displays is analyzed. In addition, we test our distinctive multi-vehicle cooperative confrontation training system online in a small team.