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Open AccessArticle

Evaluation of HoloLens Tracking and Depth Sensing for Indoor Mapping Applications

Institute of Photogrammetry and Remote Sensing, Karlsruhe Institute of Technology, 76128 Karlsruhe, Germany
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Sensors 2020, 20(4), 1021; https://doi.org/10.3390/s20041021
Received: 15 January 2020 / Revised: 10 February 2020 / Accepted: 11 February 2020 / Published: 14 February 2020
(This article belongs to the Special Issue Sensors for Construction Automation and Management)
The Microsoft HoloLens is a head-worn mobile augmented reality device that is capable of mapping its direct environment in real-time as triangle meshes and localize itself within these three-dimensional meshes simultaneously. The device is equipped with a variety of sensors including four tracking cameras and a time-of-flight (ToF) range camera. Sensor images and their poses estimated by the built-in tracking system can be accessed by the user. This makes the HoloLens potentially interesting as an indoor mapping device. In this paper, we introduce the different sensors of the device and evaluate the complete system in respect of the task of mapping indoor environments. The overall quality of such a system depends mainly on the quality of the depth sensor together with its associated pose derived from the tracking system. For this purpose, we first evaluate the performance of the HoloLens depth sensor and its tracking system separately. Finally, we evaluate the overall system regarding its capability for mapping multi-room environments. View Full-Text
Keywords: indoor mapping; augmented reality; HoloLens; time-of-flight camera; depth camera; tracking indoor mapping; augmented reality; HoloLens; time-of-flight camera; depth camera; tracking
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Hübner, P.; Clintworth, K.; Liu, Q.; Weinmann, M.; Wursthorn, S. Evaluation of HoloLens Tracking and Depth Sensing for Indoor Mapping Applications. Sensors 2020, 20, 1021.

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