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SUMMARY:Measuring with a smartphone: precision 3D tracking using a phone's
  built-in inertial sensors - Ian Sheret
DTSTART:20130429T130000Z
DTEND:20130429T140000Z
UID:TALK43870@talks.cam.ac.uk
CONTACT:Andrew Rice
DESCRIPTION:Many smartphones contain a complete set of inertial sensors (i
 .e. a three axis gyro and accelerometer)\, so in principle it should be po
 ssible to track the 3D position and orientation of the device over short p
 eriods of time. Obtaining enough accuracy to to support interesting applic
 ations is difficult\, but not impossible - this seminar will give a techni
 cal overview of a new iOS app which allows users to measure and visualise 
 room layouts using an inertial dead-reckoning approach\, and a related bio
 mechanics app designed to assess human gait.\n\nBoth apps track the positi
 on of the phone in 3D space\, with accuracy of a few centimetres. In these
  apps\, the key to getting accurate position tracking is to use applicatio
 n-specific motion constraints. Both apps share an inertial tracking system
  based around a multiplicative extended Kalman filter\, which gives low-le
 vel control over the data fusion approach\, and is\nflexible enough that i
 t can be easily adapted to exploit the different constraints that are avai
 lable in each application. I'll review the key design choices for this fil
 ter\, and how it fits with in the overall architecture of each application
 . Finally\, I'll discuss the potential to extend the system to include dat
 a from other sensors\, e.g. video feature tracking.
LOCATION:SS03\, William Gates Building
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