Poster Abstract: UarLogger: Logging Measurements from UWB and AR Sensors on iOS Devices

The multi-user Augmented Reality (AR) is powered by shared mapping and localization obtained from Visual Inertial Odometry (VIO) using AR sensors, including cameras and Inertial Measurement Units (IMU). However, VIO is vulnerable to sparse environment features, low lighting conditions, and dynamic motions. The Ultra-Wideband (UWB) transceiver, as a radio-sensing modality robust to visual and dynamic defects, has been considered as a formfitting patch on VIO to flatter multi-user AR. Nevertheless, like other wireless sensors, UWB suffers from noise and interference. Therefore, how to fuse UWB and VIO for multi-user AR is a promising but challenging research direction. To facilitate this process, we designed and released a tool, UarLogger, to log the relative location measurements from UWB and AR sensors mounted on iOS devices, as well as context-related data. We provide two examples–environmental condition evaluation and sensor fusion–to demonstrate its usefulness and showcase how it can boost the development of new algorithms with daily devices in hand.