this review by Matt Miesnieks.
I was impressed at Mr. Miesnieks' technical depth and breath in this area. His comments about the difficulty of multi-player AR struck me as spot on, and would have normally disheartened me. But thankfully, I reached a mini-milestone: I collected a 2-minute calibration session data from my wife's and my phone, and put it through the 1st stage of the AR map alignment algorithm I have been working on, as you can see below:
|o: measurement of the other devices normalized pixel location on each of the 2 phones in the 1-1 calibration session.|
x: expected normalized pixel location based on the estimate of the 6-DOF offset between the 2 phones.
|Residual innovation (measured vs. predicted) after 10 iterations of nonlinear least squares.|
- Expand the model to add at least another 3 states (maybe even 6) to the currently 3 states I am estimating.
- The possibility that at least some of the estimates may have to be updated even after the initial convergence.
Although this is supposed to be a tough problem, I've been learning and reviewing many things I learned in school in this hobby project. I am curious whether I can actually pull off an algorithm that is as difficult as Mr. Miesnieks suggests; I'll find out in the next couple of months.