Google’s Project Tango

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1. INTRODUCTION

3D models represent a 3D object using a collection of points in a given 3D space, connected by

various entities such as curved surfaces, triangles, lines, etc. Being a collection of data which

includes points and other information, 3D models can be created by hand, scanned (procedural

modeling), or algorithmically. The "Project Tango" prototype is an Android smartphone- like

device which tracks the 3D motion of particular device, and creates a 3D model of the environment

around it.

Project Tango was introduced by Google initially in early 2013, they described this as a

Simultaneous Localization and Mapping (SLAM) system capable of operating in real-time on a

phone. Google’s ATAP teamed up with a number of organizations to create Project Tango from

this description.

The team at Google’s Advanced Technology and Projects Group (ATAP) has been

working with various Universities and Research labs to harvest ten years of research in Robotics

and Computer Vision to concentrate that technology into a very unique mobile phone. We are

physical being that live in a 3D world yet the mobile devices today assume that the physical world

ends the boundaries of the screen. Project Tango’s goal is to give mobile devices a human-sca le

understanding of space and motion. This project will help people interact with the environment in

a fundamentally different way and using this technology we can prototype in a couple of hours

something that would take us months or even years before because we did not have this technology

readily available. Imagine having all this in a smartphone and see how things would change.

The first product to emerge from Google's ATAP skunkworks group,[1] Project Tango was

developed by a team led by computer scientist Johnny Lee, a core contributor

to Microsoft's Kinect. In an interview in June 2015, Lee said, "We're developing the hardware and

software technologies to help everything and everyone understand precisely where they are,

anywhere."[2]

This device runs Android and includes development APIs to provide alignment, position

or location, and depth data to regular Android apps written in C/C++, Java as well as the Unity

Game Engine (UGE). These early algorithms, prototypes, and APIs are still in active development.

So, these are experimental devices and are intended only for the exploratory and adventurous are

not a final shipping product.

Project Tango technology gives a mobile device the ability to navigate the physical world

similar to how we do as humans.

Project Tango brings a new kind of spatial perception to the Android device platform by

adding advanced computer vision, image processing, and special vision sensors.

Project Tango is a prototype phone containing highly customized hardware and software

designed to allow the phone to track its motion in full 3D in real-time. The sensors make over a

quarter million 3D measurements every single second updating the position and rotation of the

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phone, blending this data into a single 3D model of the environment. It tracks ones position as one

goes around the world and also makes a map of that. It can scan a small section of your room and

then are able to generate a little game world in it. It is an open source technology. ATAP has

around 200 development kits which has already been distributed among the developers.

Google has produced two devices to demonstrate the Project Tango technology: the Peanut

phone (no longer available) and the Yellowstone 7-inch tablet. More than 3,000 of these devices

had been sold as of June 2015,[3] chiefly to researchers and software developers interested in

building applications for the platform. In the summer of 2015, Qualcomm and Intel both

announced that they are developing Project Tango reference devices as models for device

manufacturers who use their mobile chipsets.[4][5

At CES, in January 2016, Google announced a partnership with Lenovo to release a

consumer smartphone during the summer of 2016 to feature Project Tango technology marketed

at consumers, noting a less than $500 price-point and a small form factor below 6.5 inches. At the

same time, both companies also announced an application incubator to get applications developed

to be on the device on launch.

Fig (1) Google’s Project Tango Logo

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Which companies are behind Project Tango?

A number of companies came together to develop Project Tango. All of these are listed in the

credits of the Google Project Tango introduction video called “Say hello to Project Tango!” Each

company has had a different amount of involvement. The following are the list of participat ing

companies listed in that video:

· Bosch

· BSquare

· CompalComm

· ETH Zürich

· Flyby Media

· George Washington University

· HiDOF

· MMSolutions

· Movidius

· University of Minnesota

· NASA JPL

· Ologic

· OmniVision

· Open Source Robotics Foundation

· ParaCosm

· Sunny Optical tech

· Speck Design

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2. OVERVIEW

WHAT IS PROJECT TANGO?

Tango allows a device to build up an accurate 3D model of its immediate surroundings, which

Google says will be useful for everything from AR gaming to navigating large shopping centres.

Fig (2) A view of Googles Project Tango 3D Model Mapping

Google isn't content with making software for phones that can merely capture 2D photos and

videos. Nor does it just want to take stereoscopic 3D snaps. Instead, Project Tango is a bid to equip

every mobile device with a powerful suite of software and sensors that can capture a complete 3D

picture of the world around it, in real-time. Why? So you can map your house, furniture and all,

simply by walking around it. Bingo - no more measuring up before going shopping for a new

wardrobe. Or so you can avoid getting lost next time you go to the hospital - you'll have instant

access to a 3D plan of its labyrinthine corridors. Or so you can easily find the 'unhealthy snacks'

section in your local megamart. Or so can play amazing augmented reality games. Or so that the

visually impaired can receive extra help in getting around. In fact, as with most Google projects,

the ways in which Tango could prove useful are only limited by our imagination.

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WHAT DOES THE PHONE LOOK LIKE?

There are two prototypes of Tango phone yet. A 7inch tablet and another prototype of a 5 inch

phone.

Fig (3) Prototype 1

It's a fairly standard 7in slate with a slight wedge at the back to accommodate the extra sensors.

As far as we can tell, it has three cameras including the webcam. Inside, it has one of Nvidia's

so-far-untested Tegra K1 mobile processors with a beefy 4GB of RAM and a 128GB

SSD. Google is at pains to point out that it's not a consumer device, but one is supposedly on

the way. The depth-sensing array consists of an infrared projector, 4MP rear camera and front-

facing fisheye view lens with 180-degree field of vision. Physically, it's a standard phone shape

but rather chunky compared to the class of 2014. More like something from about 2010

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Fig (4) Prototype 2

Prototype 2 is an android 5 inch smartphone with the same tango hardware as that of the tablet.

Fig (5) A simple Overview of Components of Tango Phone

Google's Project Tango is a smartphone equipped with a variety of cameras and vision sensors that

provides a whole new perspective on the world around it. The Tango smartphone can capture a

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wealth of data never before available to application developers, including depth and

object-tracking and instantaneous 3D mapping. And it is almost as powerful and as big as a typical

smartphone.

Project Tango is different from other emerging 3D-sensing computer vision products, such

as Microsoft Hololens, in that it's designed to run on a standalone mobile phone or tablet and is

chiefly concerned with determining the device's position and orientation within the environment.

The high-end Android tablet with 7-inch HD display, 4GB of RAM, 128GB of interna l

SSD storage and an NVIDIA Tegra K1 graphics chip (the first in the

US and second in the world) that features desktop GPU architecture. It also has a distinctive design

that consists of an array of cameras and sensors near the top and a couple of subtle grips on the

sides. Movidius which is the company that developed some of the technology which has been used

in Tango has been working on computer vision technology for the past seven years — it developed

the processing chips used in Project Tango, which Google paired with sensors and cameras to give

the smartphone the same level of computer vision and tracking that formerly required much larger

equipment. The phone is equipped with a standard 4-megapixel camera paired with a special

combination of RGB and IR sensor and a lower-resolution image-tracking camera. These combos

of image sensors give the smartphone a similar perspective on the world, complete with 3-D

awareness and a awareness of depth. They supply information to Movidius custom Myriad 1 low-

power computer-vision processor, which can then process the data and feed it to apps through a

set of APIs. The phone also contains a Motion Tracking camera which is used to keep track of all

the motions made by the user.

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3. SMARTPHONE SPECIFICATION

Tango wants to deconstruct reality, taking a quarter million 3D measurements each second to create a real-time 3D model that describes the physical depth of its surroundings.

The smartphone specs are

The above specs include Snapdragon 800 quad core CPU running up to 2.3 GHz per core, 2GB or

4GB of memory, an expandable 64GB or 128 of internal storage, and a nine axis

accelerometer/gyroscope/compass. There’s also a Mini-USB, a Micro-USB, and USB 3.0.

In addition to above specs Tango’s specs also include: a rear-facing four megapixe l

RGB/infrared camera, a 180-degree field-of-view fisheye rear-facing camera, a 120-degree field-

of-view front facing camera, and a 320 x 180 depth sensor – plus a vision processor with one

teraflop of computer power. Project Tango uses a 3000 mAh battery.

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4. HARDWARE

Project Tango is basically a camera and sensor array that happens to run on an Android phone.

The smartphone is equipped with a variety of cameras and vision sensors that provides a whole

new perspective on the world around it. The Tango smartphone can capture a wealth of data never

before available to application developers, including depth and object-tracking and instantaneous

3D mapping. And it is almost as powerful and as big as a typical smartphone. The Front View and

Back View of a Tango Phone is shown below.

It is same like some other phones but the phone is having variety of cameras and sensors that make

the 3D modelling of the environment possible.

Fig (6) Tango Phone Front View

The device tracks the 3D motion and creates a 3D model of the environment around it by using

the array of cameras and sensors. The phone emits pulses of infrared light from the IR projector

and records how it is reflected back allowing it to build a detailed depth map of the surrounding

space.

There are three cameras that capture a 120-degree wide-angle field of view. 3D camera captures

the 3D structure of a scene. Most cameras are 2D, meaning they are a projection of the scene onto

the camera's imaging plane; any depth information is lost. In contrast, a 3D camera also captures

the depth dimension (in addition to the standard 2D data).A rear-facing four megapixe l

RGB/infrared camera, a 180-degree field-of-view fisheye rear-facing camera, a 120-degree field-

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of-view front facing camera, and a 320 x 180 depth sensor are the components of the phone at the

rear end that works together to give the 3D structure of the scene.

Fig (7) Tango Phone Back View

Project Tango, which Google paired with sensors and cameras to give the smartphone the same

level of computer vision and tracking that formerly required much larger equipment. The phone is

equipped with a standard 4-megapixel camera paired with a special combination of RGB and IR

sensor and a lower-resolution image-tracking camera. These combos of image sensors give the

smartphone a similar perspective on the world, complete with 3-D awareness and a awareness of

depth. They supply information to Movidius custom Myriad 1 low-power computer-vis ion

processor, which can then process the data and feed it to apps through a set of APIs. The phone

also contains a Motion Tracking camera which is used to keep track of all the motions made by

the user. The motherboard which contains all of these components is shown below

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Fig (8) Tango phone Motherboard

Elpida FA164A1PB 2 GB LPDDR3 RAM, layered above a Qualcomm 8974(Snapdragon 800)

processor. (RED)

Two Movidius Myriad 1 computer vision co-processors. (ORANGE)

Two AMIC A25L016 16 Mbit low voltage serial flash memory ICs. (YELLOW)

InvenSense MPU-9150 9-axis gyroscope/accelerometer/compass MEMS motion tracking

device. (GREEN)

Skyworks 77629 multimode multiband power amplifier module for quad-band GSM/EDGE.

(BLUE)

PrimeSense PSX1200 Capri PS1200 3D sensor SoC. (VIOLET)

The figure above is the motherboard: the red is 2GB LPDDR3 RAM, along with Qualcomm

Snapdragon 800 CPU, the orange is computer image processor Movidius Myriad 1, the

green which contain 9-axis acceleration sensor / gyroscope / compass, motion tracking, the

yellow is two memory ICs AMIC A25L016 flash 16Mbit, the purple is the SoC 3D sensor

PrimeSense PSX1200 Capri PS1200, the blue is SPI flash memory Winbond W25Q16CV

16Mbit. Internally, the Myriad 2 consists of 12 128-bit vector processors called Streaming

Hybrid Architecture Vector Engines, or SHAVE in general, which run at 60MHz. The

Myriad 2 chip gives five times the SHAVE performance of the Myriad 1, and the SIPP

engines are 15x to 25x more powerful than the 1st generation chip.

The phone is equipped with a standard 4-megapixel camera paired with a special

combination of RGB and IR sensor and a lower-resolution image-tracking camera..As the

main camera, the Tango uses OmniVision’s OV4682. It is the eye of Project Tango’s

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mobile device. The OV4682 is a 4MP RGB IR image sensor that captures

high-resolution images and video as well as IR information, enabling depth analysis.

Fig (9) Front and Rear Camera Fig (10) Fisheye Camera

Fig (11) IR Projector

Integrated Depth Sensor

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5. TECHNOLOGY BEHIND TANGO

5.1 TANGO’S SENSOR

Myriad 1 vision processor platform developed by Movidius Company. The sensors

allow the device to make "over a quarter million 3D measurements every second, updating

its position and orientation in real time, combining that data into a single 3D model of the

space around you. Movidius which is the company that developed some of the technology

which has been used in Tango has been working on computer vision technology for the

past seven years — it developed the processing chips used in Project Tango, which Google

paired with sensors and cameras to give the smartphone the same level of computer vision

and tracking that formerly required much larger equipment.

5.2 IMAGE SENSORS

Image sensors give the smartphone a similar perspective on the world, complete

with 3-D awareness and a awareness of depth which is then supplied information to

Movidius custom Myriad 1 low-power computer-vision processor, which can then process

the data and feed it to apps through a set of APIs. The Motion Tracking camera keeps track

of all the motions made by the user. . There are three cameras that capture a 120-degree

wide-angle field of view from the front. An even wider 180 degree span from the back The

phone is equipped with a standard 4-megapixel camera paired with a special combination

of RGB and IR sensor and a lower-resolution image-tracking camera. Its depth-sensing

array consists of an infrared projector, 4MP rear camera and front-facing fisheye view lens

with 180-degree field of vision. The phone emits pulses of infrared light from the IR

projector and records how it is reflected back allowing it to build a detailed depth map of

the surrounding space. The data collected from sensors and camera is processed by the

Myriad vision processor for delivering 3D structure of the view to the apps.

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6. WORKING CONCEPT

Project Tango devices combine the camera, gyroscope and accelerometer to estimate six degrees

of freedom motion tracking, providing developers the ability to track 3D motion of a device while

simultaneously creating a map of the environment

An IR projector provides infrared light that other (non-RGB) cameras can use to get a sense of an

area in 3D space. The phone emits pulses of infrared light from the IR projector and records how

it is reflected back allowing it to build a detailed depth map of the surrounding space. There are

three cameras that capture a 120-degree wide-angle field of view from the front. An even wider

180 degree span from the back. A 4-MP color camera sensor can also be used for snapping regular

pics. A 3D camera captures the 3D structure of a scene. Most cameras are 2D, meaning they are a

projection of the scene onto the camera's imaging plane; any depth information is lost. In contrast,

a 3D camera also captures the depth dimension (in addition to the standard 2D data).

The main camera, the Tango uses OmniVision’s OV4682. It is the eye of Project Tango’s

mobile device. The OV4682 is a 4MP RGB IR image sensor that captures

high-resolution images and video as well as IR information, enabling depth analysis. The sensor

features a 2um OmniBSI-2 pixel and records 4MP images and video in a 16:9 format at 90fps. The

sensor's 2-micron OmniBSI-2 pixel delivers excellent signal-to-noise ratio and IR sensitivity, and

offers best-in-class low-light sensitivity. The OV4682's unique architecture and pixel optimiza t ion

bring not only the best IR performance but also best-in-class image quality. The OV4682 records

full-resolution 4-megapixel video in a native 16:9 format at 90 frames per second (fps), with a

quarter of the pixels dedicated to capturing IR. The 1/3- inch sensor can also record 1080p high

definition (HD) video at 120 fps with electronic image stabilization (EIS), or 720p HD at 180 fps.

The OV7251 Camera Chip sensor is capable of capturing VGA resolution video at 100fps using a

global shutter. RGB infrared (IR) single sensor that captures high-resolution images and video as

well as IR information. Its dual RGB and IR capabilities allow it to bring a host of additiona l

features to mobile and machine vision applications, including gesture sensing, depth analysis, iris

detection and eye tracking.

The another camera is fisheye lens enables a 180º FOV, while the sensor balances

resolution and frames per second to record black and white images for motion tracking. So if the

users moves the devices left or right, it draws the path that the devices and that path followed is

show in the image on the right in real-time. Thus through this we have a motion capture

capabilities in our device. The device also has a depth sensor.

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Fig (12) The image represents the feed from the fish-eye lens. Fig (13) Computer Vision

The figure above illustrates depth sensing by displaying a distance heat map on top of what the

camera sees, showing blue colors on distant objects and red colors on close by objects. It also the

data from the image sensors and paired with the device's standard motion sensors and gyroscopes

to map out paths of movement down to 1 percent accuracy and then plot that onto an interactive

3D map. It uses the Sensor fusion technology which combines sensory data or data derived from

sensory data from disparate sources such that the resulting information is in some sense better than

would be possible when these sources were used separately. Thus it means a more precise, more

comprehensive, or more reliable, or refer to the result of an emerging view, such as stereoscopic

vision.

These combos of image sensors give the smartphone a similar perspective on the world,

complete with 3-D awareness and a awareness of depth. They supply information to Movidius

custom Myriad 1 low-power computer-vision processor, which can then process the

data and feed it to apps through a set of APIs. The phone also contains a Motion Tracking camera

which is used to keep track of all the motions made by the user.

Mantis Vision, a developer of some of the world's most advanced 3D enabling technologies

research MV4D technology platform is the core 3D engine behind Google's Project Tango. Mantis

Vision provides the 3D sensing platform, consisting of flash projector hardware components and

Mantis Vision's core MV4D technology which includes structured light-based depth sensing

algorithms which generates realistic, dense maps of the world. It focuses to provide reliable

estimates of the pose of a phone i.e. position and alignment, relative to its

environment, dense maps of the world. It focuses to provide reliable estimates of the pose of a

phone (position and alignment), relative to its environment

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7. PROJECT TANGO CONCEPTS

Project Tango is different from other emerging 3D-sensing computer vision products, such as

Microsoft Hololens, in that it's designed to run on a standalone mobile phone or tablet and is chiefly

concerned with determining the device's position and orientation within the environment.

The software works by integrating three types of functionality:

7.1 Motion Tracking:

Motion tracking allows a device to understand position and orientation using

Project Tango's custom sensors. This gives you real-time information about the 3D motion of a device. Motion-tracking: using visual features of the environment, in combination

with accelerometer and gyroscope data, to closely track the device's movements in space. Project Tango’s core functionality is measuring movement through space and

understanding the area moved through. Google API’s provide the position and orientation

of the user’s device in full six degrees of freedom, referred to as its pose.

Fig (14) Motion Tracking

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7.2 Area Learning: Using area learning, a Project Tango device can remember the visual features of

the area it is moving through and recognize when it sees those features again. These features can be saved in an Area Description File (ADF) to use again later.

Project Tango devices can use visual cues to help recognize the world around them. They can self-correct errors in motion tracking and relocalize in areas they've seen before. . With an ADF loaded, Project Tango devices gain a new feature called drift corrections or

improved motion tracking. Area learning is the way of storing environment data in a map that can be re-used

later, shared with other Project Tango devices, and enhanced with metadata such as notes, instructions, or points of interest

Fig (15) Area Learning

7.3 Depth Perception: Project Tango devices are equipped with integrated 3D sensors that measure the

distance from a device to objects in the real world. This configuration gives good depth at

a distance while balancing power requirements for infrared illumination and depth processing.

The depth data allows an application to understand the distance of visible objects to the device. By combining depth perception with motion tracking, you can also measure distance between points in an area that aren’t in the same fame.

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Project Tango devices are equipped with integrated 3D sensors that measure the distance from a device to objects in the real world. Current devices are designed to work best indoors

at moderate distances (0.5 to 4 meters). It may not be ideal for close range object scanning. Because the technology relies on viewing infrared light using the device's camera, there

are some situations where accurate depth perception is difficult. Areas lit with light sources high in IR like sunlight or incandescent bulbs, or objects that do not reflect IR light cannot be scanned well.

By combining depth perception with motion tracking, you can also measure distances between points in an area that aren't in the same frame.

Fig (16) Depth Perception

Together, these generate data about the device in "six degrees of freedom"

(3 axes of orientation plus 3 axes of motion) and detailed three-dimensional information about the

environment.

Applications on mobile devices use Project Tango's C and Java APIs to access this data in

real time. In addition, an API is also provided for integrating Project Tango with the Unity game

engine; this enables the rapid conversion or creation of games that allow the user to interact and

navigate in the game space by moving and rotating a Project Tango device in real space. These

APIs are documented on the Google developer website.

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8. DEVICES DEVELOPED SO FAR As a platform for software developers and a model for device manufacturers, Google has

created two Project Tango devices to date.

The Yellowstone tablet

Google's Project Tango tablet, 2014

"Yellowstone" is a 7-inch tablet with full Project

Tango functionality, released in June 2014, and sold as the

Project Tango Tablet Development Kit.[7] It features a

2.3 GHz quad-core Nvidia Tegra K1 processor, 128GB flash

memory, 1920x1200-pixel touchscreen, 4MP color

camera, fisheye-lens (motion-tracking) camera, integrated

depth sensing, and 4G LTE connectivity. The device is sold

through the official Project Tango website [8] and the Google Play Store.

The Peanut phone

"Peanut" was the first production Project Tango device, released in the first quarter of 2014.

It was a small Android phone with a Qualcomm MSM8974 quad-core processor and additiona l

special hardware including a fisheye- lens camera (for motion tracking), "RGB-IR" camera (for

color images and infrared depth detection), and Movidius image-processing chips. A high-

performance accelerometer and gyroscope were added after testing several competing models in

the MARS lab at the University of Minnesota.

Several hundred Peanut devices were distributed to early-access partners includ ing

university researchers in computer vision and robotics, as well as application developers and

technology. Google stopped supporting the Peanut device in September 2015, as by then the Project

Tango software stack had evolved beyond the versions of Android that run on the device.

Testing by NASA

In May 2014, two Peanut phones were delivered to the International Space Station to be

part of a NASA project to develop autonomous robots that navigate in a variety of environments,

including outer space. The soccer-ball-sized, 18-sided polyhedral SPHERES robots were

developed at the NASA Ames Research Center, adjacent to the Google campus in Mountain View,

California. Andres Martinez, SPHERES manager at NASA, said "We are researching how

effective Project Tango's vision-based navigation abilities are for performing localization and

navigation of a mobile free flyer on ISS.

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9. FUTURE SCOPE Project Tango seeks to take the next step in this mapping evolution. Instead of depending

on the infrastructure, expertise, and tools of others to provide maps of the world, Tango empowers

users to build their own understanding, all with a phone. Imagine knowing your exact position to

within inches. Imagine building 3D maps of the world in parallel with other users around you.

Imagine being able to track not just the top down location of a device, but also its

full 3D position and alignment. The technology is ambitious, the potential applications are

powerful. The Tango device really enables augmented reality which opens a whole frontier for

playing games in the scenery around you. You can capture the room, you can then render the scene

that includes the room but also adds characters and adds objects so that you can create games that

operate in your natural environment. The applications even go beyond gaming. Imagine if you

could see what room would look like and decorate it with different types

of furniture and walls and create a very realistic scene. This Technology can be used the guide the

visually impaired to give them auditory queues or where they are going. Can even be used by

soldiers in war to replicate the war-zone and prepare for combat or can even be used to

live out one’s own creative fantasies. The possibilities are really endless for this amazing

technology and the future is looking very bright.

Things Project Tango can do

DIRECTIONS: When you need directions inside a building or structure that current mapping

solutions just don’t provide. Shopping - who just like to get in and out as quickly as possible.

Having an indoor map of the store in your hand could make shopping trips more efficient by

leading you directly to the shelf you want.

EMERGENCY RESPONSE: To help emergency response workers such as firefighters find their

way through buildings by projecting the blueprints onto the screen.

It has the potential to provide valuable information in situations where knowing the exact layout

of a room can be a matter of life or death

AUGMENTED REALITY GAMING: It could combine the room-mapping with augmented

reality. “Imagine competing against a friend for control over territories in your own home with

your own miniature army.

Mapping in-game textures onto your real walls through the

smartphone would arguably produce the best game of Cops

and Robbers in history.

MODELLING OBJECTS:

A simple image showing image Modelling using Project

Tango.

Fig (17)

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10. CONCLUSION

Project Tango enables apps to track a device's position and orientation within a detailed 3D

environment, and to recognize known environments. This makes possible applications such as in-

store navigation, visual measurement and mapping utilities, presentation and design tools, and a

variety of immersive games.

At this moment, Tango is just a project but is developing quite rapidly with early prototypes and

development kits already distributed among many developers. It is all up to the developers now to

create more clever and innovative apps to take advantage of this technology. It is just the

beginning and there is a lot of work to do to fine-tune this amazing technology. Thus, if Project

Tango works – and we've no reason to suspect it won't - it could prove every bit as revolutionary

as Maps or earth or android. It just might take a while for its true genius to become clear

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11. REFERENCE

[1] Announcement on ATAP Google+ site, 30 January 2015.

[2] "Future Phones Will Understand, See the World". 3 June 2015. Retrieved 4

November 2015.

[3] ^"Slamdance: inside the weird virtual reality of Google's Project Tango". 29 May 2015.

[4] Qualcomm Powers Next Generation Project Tango Development Platform, 2015-05-29

[5] IDF 2015: Intel teams with Google to bring RealSense to Project Tango, 2015-08-18

[6] https://developers.google.com/project-tango/ Google developer website

[7] Product announcement on ATAP Google+ page, 5 June 2014, retrieved 4 November 2015

[8] https://www.google.com/atap/project-tango/ Project Tango website