hawkeye

references

• https://www.sciencedirect.com/science/article/abs/pii/S0263224104000417
• https://www.sciencedirect.com/science/article/pii/S1474667016426261
• http://nghiaho.com/?page_id=671

code

• This is a typical android project written in Kotlin.
• opencv library is used for feature extraction, description and matching.
• koma library is used for linear algebra.
• proposal.pdf contains the baseline algorithm.
• report.pdf contains all the details of the project viz. assumptions, algorithms, analysis ...

usage

• Build the app using android studio.
• Install the app in a device with front camera.
• Give camera permission for the app from the device settings.
• Place the device on a 2D plane facing a static ceiling and reset the visual odometer.
• On moving the device now, it uses the video feed to track its 2D pose and visualizes it on screen.

demonstration

If device at rest no translation or rotation is detected
Drawing a line by hand. (Translation only)
Drawing a square by hand. (Translation only)
Drawing a star by hand. (Translation only)
Drawing a circle by hand. (Translation only)
Drawing a spiral by hand. (Translation only)
Drawing a word (CV) by hand. (Translation only)
Rotating 90 degrees by hand. (Rotation only)
Drawing an arc by hand. (Translation + Rotation)
The device is occuluded rotated by 90 degrees. On unocclusion orientation is immediately estimated to be at 90 degrees.