[talks] Tobechukwu Nwanna MSE thesis talk

Melissa M. Lawson mml at CS.Princeton.EDU
Wed May 1 15:43:53 EDT 2013

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 

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.

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