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Published on Nov 11, 2015
Tracko is a 3D tracking system for commodity mobile devices and uses ultrasound, Bluetooth low energy and inertial sensors to triangulate the position of surrounding devices. Tracko needs no additional components or device synchronization. Tracko brings cross-device interaction to mobile scenarios, as it requires no tracking infrastructure in the environment.
Tracko is a research project by Haojian Jin, Yahoo Labs Christian Holz, Microsoft Research Kasper Hornbæk, University of Copenhagen
Tracko achieves mobile 3D tracking by fusing three signal types.
1) Tracko infers the presence of and rough distance to other devices from the strength of Bluetooth low energy signals. 2) Tracko exchanges a series of inaudible stereo sounds and derives a set of accurate distances between devices from the difference in their arrival times. A Kalman filter integrates both signal cues to place collocated devices in a shared 3D space, combining the robustness of Bluetooth with the accuracy of audio signals for relative 3D tracking. 3) Tracko incorporates inertial sensors to refine 3D estimates and support quick interactions. Tracko robustly tracks devices in 3D with a mean error of 6.5 cm within 0.5 m and a 15.3 cm error within 1 m, which validates Tracko’s suitability for cross-device interactions.