Advancing Augmented Reality: Localization Algorithm Analysis and Pre-Positioning Virtual Objects
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Authors
Soltanieh, Setareh
Date
2025-01-28
Type
thesis
Language
eng
Keyword
Augmented Reality , Localization , Pre-positioning
Alternative Title
Abstract
This thesis evaluates localization algorithms for Augmented Reality (AR) applications, focusing on five state-of-the-art monocular-inertial localization algorithms—OpenVINS, VINS-Mono, ORB-SLAM3, Kimera-VIO, and DM-VIO. These algorithms were assessed using publicly available datasets (EuRoC) and custom datasets collected with handheld devices, simulating typical AR user movements. The evaluation highlights trade-offs in accuracy, robustness, and initialization time, providing insights into their suitability for various AR scenarios. A comparative analysis with Google’s ARCore reveals that while custom algorithms have higher precision in outdoor environments, ARCore demonstrates superior precision indoors. A significant contribution of this work is the development of an AR pipeline capable of accurately rendering virtual assets in their intended real-world locations without relying on pre-existing 3D maps. The pipeline comprises four threads: data capture, origin setting, localization, and rendering. It incorporates fiducial markers such as AprilTags to seamlessly align the real and virtual worlds by establishing a shared origin between them.
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Queen's University's Thesis/Dissertation Non-Exclusive License for Deposit to QSpace and Library and Archives Canada
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
Attribution-NonCommercial-NoDerivatives 4.0 International
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
Attribution-NonCommercial-NoDerivatives 4.0 International