Pose Estimation for a Mobile Device

Progress

Jan 21, 2013

• Setup the android environment on Win7. Able to run sample programs on mobile devices.

 Environment
 - Android SDK with eclispe bundled for windows
 - Android NDK r8 for windows
 - OpenCV 2.4.3 for android. No need to recompile the library.

 Test device:
 - ASUS TF101
 - HTC EVO 3D

 Test program:
 - acceleration reader.
 - basic camera reader.

Jan 17, 2013

• Started project.

To Do List in a week

PC side:

• Remove features with inconsistent measurements.
• Add motion model of the camera into pose estimation cost function.
• Redesign the mechanism of adding features at each key frame. (We should only add features that make the density of the features are equally spread.)

Mobile side:

• Perform feature detection on the mobile device and record its performance.
• Setup the connection between a mobile devise and the PC.

Goal

PC side:

• Refine the feature matching to consider the density of the features at a frame.

• Incorporate the motion model of the camera into optimization.

• Make the program to be multi-threaded.

Mobile side:

• Setup basic data capturing program

• Test on data transfer between mobile device and PC.

• Transfer part of preprocessing program to the mobile device.