Abstract of the thesis:

Optical tracking systems predominantly rely on spherical retroreflective markers, requiring at least three features to achieve a complete six degrees of freedom (6D) pose estimation. Despite the potential advantages of a single non-spherical marker for 6D pose estimation, this approach has received limited attention in the literature. This study investigates the feasibility of non-spherical retroreflective markers, particularly tetrahedral markers, as alternatives to spherical features. Simulations and digital post-processing were conducted using Blender to generate stereo images of both spherical and tetrahedral markers. The standard marker tracking was adjusted to use the vertices of the tetrahedra instead of the centers of the spheres. The results indicate that spherical markers provide slightly more precise tracking in the simulated scenario, while tetrahedral markers offer advantages in practical applications, such as an extended field of view. These findings suggest that non-spherical markers warrant further exploration to assess their potential to enhance optical tracking systems in real-world applications.