i like to move it, move it - what your android device really feels
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I like to move it, move itWhat my Android device really feels
Alexander Pacha07.01.2016
About me
2008 – 2011: Bachelor of Science at University of Technology Vienna2011 – 2013: Master of Science in Munich and AugsburgSince 2014: Software Developer at ZühlkeSince 2015: Trainer Clean Code (.NET) at Zühlke Academy
My work
2013: Goldfield Explorer
2013: Sensor fusion (Master thesis)
2013 – present: SightPlayer
Hardware Sensors
Gyroscope Accelerometer Compass Camera GPSMore sensors: Light and Proximity Microphone Thermometer Barometer Hygrometer
Virtual Sensors
Calibrated Gyroscope Gravity Linear Accelerometer Orientation / Rotation Vector
Image from http://www.thousand-thoughts.com/2012/03/android-sensor-fusion-tutorial/
Filter
Image from http://www.thousand-thoughts.com/2012/03/android-sensor-fusion-tutorial/
Filters introduce latency
Demonstration
Calibrated GyroscopeOrientation / Rotation Vector
?Design thoughts
FusedResult = a * GyroOrientation + (1-a) * RotationVector
The more you move, the more you can correctFusedResult = GyroOrientation + Velocity * RotationVectorVelocityRotation = GyroX + GyroY + GyroZ
Representations
Euler-Angles: yaw, pitch and roll; Suffers from gimbal lock.
Rotation Vector: general form that specifies rotation-axis (x, y, z) and angle (α)
Rotation Matrix: 3x3 matrix that is often used in computer graphics
Quaternions: Similar to rotation vector but in 4-dimensional space.Allows interpolating (SLERP)
Demonstration
Final resulthttps://bitbucket.org/apacha/sensor-fusion-demo
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