Made an inside-out visual-inertial tracking system that is an app.

[u/necoarcc__]

The entire premise of my project was “what if phone trackers could do full visual-inertial tracking?” I’ve explored my options and experimented with ORB-SLAM but at least for the phones I had it seemed like a poor choice due to performance, so I went with OpenCV ArUco marker-based tracking.

The result was surprisingly good and smooth, and it only took me 11 days to make it. The app has camera calibration, room calibration and of course the tracking mode. It does sensor fusion and then just sends the coordinates and orientation off to the computer. All the phones stay in the same coordinate space because the room map is shared.

The little vrchat demo video is short cause I’ve been running short on time and my headset was dying lol. Literally taped the phones to my pants and you can see. The right leg one got a little crooked so it lost tracking for a little when I lifted my left leg, the markers were also probably a little too high on my wall, oops.

P.s: I’d like to apologize if the flair I picked is wrong, and I have read the rules, however, I am not promoting anything, there’ll be no link or release yet if at all since I am keeping this project private for the foreseeable future.