Left: Virtual reality scenes generated from viewpoints based on our estimated 6 degrees of freedom pose of the camera mounted on the helmet worn by the user.

Right: The video from the camera mounted on the helmet worn by the user.

Left: The tracked position of the user displayed as a moving red dot on our map.

Right: The video from the camera mounted on the helmet worn by the user.

The moving trajectories (on the map) of 16 marines using our real-time tracking systems during one training exercise.

Top: The user who worn our tracking system walks through smoke.

Down: The real-time moving trajectory of the user (blue curve displayed on the map) estimated by our system.