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To estimate the 6 degree-of-freedom pose (position and orientation) of a mobile device, the data from the built-in RGB camera is captured and evaluated to extract natural features in real time on a mobile device. These features are then fused with the built-in inertial measurement data to create a robust 6DOF pose in real time. Applicable methods are first evaluated (i.e. Extended Kalman Filter) and then implemented and tested.
Prototype code (Java, Android) for highly accurate 3DOF orientation tracking based on IMU fusion will be provided for further usage.
SDKs/Platform: Android, OpenCV, FastCV ...
Programming: C++ (Android NDK), Java