Augmented reality systems allow users to interact with real and computer-generated objects by displaying 3D virtual objects registered in a user's natural environment. Applications of this powerful visualization tool include previewing proposed buildings in their natural settings, interacting with complex machinery for purposes of construction or maintenance training, and visualizing in-patient medical data such as ultrasound. In all these applications, computer-generated objects must be visually registered with respect to real-world objects in every image the user sees. If the application does not maintain accurate registration, the computer-generated objects appear to float around in the user's natural environment without having a specific 3D spatial position. Registration error is the observed displacement in the image between the actual and intended positions of virtual objects.
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