Tobechukwu Nwanna will present his MSE thesis talk on Monday May 6 at 1PM in Room 402. The members of his committee are: Szymon Rusinkiewicz, advisor and Margaret Martonosi, reader. Everyone is invited to attend his talk. His abstract follows below. -------------------- Real time three dimensional motion sensing using sensor fusion on smartphones The need for users to explore three dimensional spaces is becoming increasingly common. Currently most input devices for interfacing with these environments try to map two dimensional movement to a three dimensional space. This means that to fully explore the environment, either mode switching or other combinations of inputs are required. While this works, it is unintuitive and unnatural. There have been a number of natural user interfaces that provide more intuitive controls through a wide variety of methods including inertial navigation and visual odometry. Inertial navigation tracks the relative position and orientation of an object with dead reckoning, using the objects' internal motion sensors. Visual odometry, on the other hand, tracks the optical flow of features identified using a camera and attempts to estimate the camera pose and movement from that. While each method has its advantages, each also has weaknesses that usually require the use of an external sensor for correction. We propose a solution that does not require an external sensor and instead uses each method to correct for errors in the other. We chose smartphones as a medium as they are sensor rich devices and ubiquitous enough to most users are comfortable using them. Our method tracks the orientation of the device using internal motion sensors while tracking the linear motion using camera data. Both types of input are placed into a kalman filter that attempts to minimize the effects of noise and reduce the accumulation of errors in each using data from the other. In addition to explaining the system, we will detail some potential uses and how this interface improves over existing ones.