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3D-Relative-Mapping

A sophisticated computational system engineered for real-time 3D mapping and positional tracking, leveraging the inertial sensors embedded within mobile devices. This project harnesses the capabilities of accelerometers and gyroscopes, processed through the Expo framework, to dynamically compute relative positional offsets and orientations. By constructing a comprehensive transformation matrix, the system adeptly maps device motion and orientation within a localized 3D spatial framework.

Features

  • Precision Motion Detection: Utilizes advanced threshold-based algorithms to discern significant movements from accelerometer data, ensuring high-fidelity motion tracking.
  • Robust Orientation Tracking: Processes gyroscopic data to accurately monitor and compute device rotational dynamics across multiple axes.
  • Dynamic 3D Spatial Mapping: Continuously updates a sophisticated coordinate matrix to reflect the device's evolving position and orientation relative to its initial origin.
  • Integrated Sensor Fusion: Seamlessly amalgamates data from multiple sensors to deliver unparalleled accuracy in motion and orientation determination.
  • Expo Framework Integration: Employs the Expo platform to streamline development, deployment, and cross-platform compatibility, enhancing overall application performance and maintainability.

How It Works

Motion Detection

  1. Accelerometer Data Acquisition: The accelerometer captures real-time linear acceleration data along the three principal axes (x, y, z), providing a granular view of the device’s movement.
  2. Continuous Monitoring: The system persistently analyzes accelerometer outputs to identify fluctuations indicative of motion.
  3. Threshold Filtering: By applying a meticulously calibrated threshold, the system effectively filters out minor perturbations, ensuring that only significant movements are processed and mapped.

Orientation Tracking

  1. Gyroscopic Data Acquisition: The gyroscope records angular velocity, capturing the device’s rotational movements with high precision across the three axes.
  2. Rotational Dynamics Computation: The system interprets gyroscopic data to compute real-time changes in orientation, enabling accurate tracking of device rotation over time.
  3. Integration of Rotational Data: By integrating the angular velocity data, the system maintains an up-to-date representation of the device’s orientation relative to its initial state.

Sensor Fusion and Mapping

  1. Data Integration: The system synergistically combines accelerometer and gyroscope data to form a cohesive understanding of the device’s motion and orientation within 3D space.
  2. Positional and Rotational Calculations: Utilizing advanced algorithms, the system calculates the device’s movement and rotation from its starting position, ensuring precise localization.
  3. Transformation Matrix Construction: These calculations feed into the creation and continual updating of a 3D transformation matrix, encapsulating the device's current position and orientation relative to the origin.

Real-Time 3D Mapping

  1. Continuous Matrix Updates: The transformation matrix is dynamically updated in real-time as new sensor data streams in, reflecting the device's latest positional and orientational state.
  2. Comprehensive Spatial Representation: The matrix provides an exhaustive and accurate depiction of the device’s movement trajectory and orientation shifts within a three-dimensional space.
  3. Seamless Data Visualization: Enables the generation of real-time visual representations of the device’s spatial dynamics, facilitating applications in various high-precision fields.

Installation

  1. Clone the Repository: 
    git clone https://github.com/Ryan-Rudd/3D-Relative-Mapping.git
  2. Navigate to the Project Directory: 
    cd 3D-Relative-Mapping
  3. Install Dependencies: 
    npm install
  4. Initialize Expo: Ensure that you have Expo CLI installed. If not, install it globally: 
    npm install -g expo-cli
    Then, start the Expo development server: 
    expo start

Usage

  1. Deploy the Application:
    • Install the Expo Go app on your mobile device from the App Store or Google Play Store.
    • Launch the Expo development server using expo start.
    • Scan the QR code displayed in your terminal or browser to deploy the application to your device.
  2. Initiate Motion Tracking:
    • Upon launching the app, grant the necessary permissions for sensor access.
    • Begin movement with the device to initiate real-time tracking.
  3. Monitor Real-Time Updates:
    • Observe the dynamically updating 3D coordinate matrix, which reflects your device’s position and orientation in real-time.
    • Utilize the interface to visualize movement trajectories and orientation changes within the 3D spatial framework.

System Requirements

  • Hardware:
    • A mobile device equipped with:
      • Accelerometer: For detecting linear acceleration along three axes.
      • Gyroscope: For capturing angular velocity and rotational movements.
  • Software:
    • Expo CLI: For streamlined development and deployment.
    • Node.js: To manage dependencies and run the development server.
  • Technical Proficiency:
    • Fundamental knowledge of sensor integration and real-time data processing.
    • Experience with matrix mathematics and transformation algorithms.
    • Familiarity with React Native and the Expo framework is advantageous.

Potential Applications

  • Robotics and Automation: Enhancing real-time motion tracking and spatial awareness in autonomous systems.
  • Augmented and Virtual Reality (AR/VR): Providing precise orientation and movement data to enrich immersive experiences.
  • Navigation Systems: Facilitating device localization in GPS-denied environments through accurate inertial tracking.
  • Biomechanical Analysis: Offering detailed motion tracking for sports science, rehabilitation, and ergonomic studies.

Future Enhancements

  • Advanced Noise Filtering: Integrate sophisticated algorithms such as Kalman Filters to mitigate sensor noise and drift, thereby enhancing positional accuracy.
  • Magnetometer Integration: Incorporate magnetometer data to achieve absolute positioning and improve orientation stability.
  • 3D Visualization Tools: Develop comprehensive visualization modules to display real-time motion tracking and spatial data in an intuitive 3D interface.
  • Cross-Platform Optimization: Extend support to additional mobile platforms and optimize performance for a wider range of devices.

Contributing

We welcome and appreciate contributions from the developer community. To contribute:

  1. Fork the Repository.
  2. Create a Feature Branch: 
    git checkout -b feature/YourFeatureName
  3. Commit Your Changes: 
    git commit -m "Add your detailed description"
  4. Push to the Branch: 
    git push origin feature/YourFeatureName
  5. Submit a Pull Request for review and integration.

License

This project is licensed under the MIT License. You are free to use, modify, and distribute this software in accordance with the terms outlined in the license.

Acknowledgments

This project is a testament to the advancements in inertial measurement unit (IMU) technologies and the foundational frameworks that enable sophisticated motion tracking and sensor fusion. Special thanks to the open-source community for their invaluable contributions to sensor processing and 3D spatial mapping technologies.

Crafted with expertise and precision by Ryan Rudd, leveraging cutting-edge technologies and methodologies to deliver a robust and scalable 3D mapping solution.