6DOF tracking at extremely simple and cheap !
The computational load is light !
It can be used in places where light cannot be used !
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The information of "Development of Airborne Ultrasonic Motion Capture and Spatial Dimension Measurement Technology (Orientator)" (in my own web site) is below. The demo video is available.
https://www.optimized75.com/documents/thesis_of_orientator_(english)_8.html
Yohei Inada
mcThings
Makeroni Labs
igorfonseca83
Jonathan Krynitsky