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+---
+title: "12-advanced-sensing-vision-sensors"
+tags: 
+- lecture
+- info305
+---
+
+
+Sensor Fusion - Fusion with vision sensors
+- Combine integrated sensors with vision sensors (will be covered later in more details) 
+- Orientation tracking 
+	- Absolute measurements from integrated sensors (Compass) 
+	- Relative measurements from vision sensors (camera) using a panorama 
+- Rotations between world reference system N, device reference system D and panorama reference system P (vision).
+![|300](https://i.imgur.com/ZM6XOlt.png)
+![|300](https://i.imgur.com/dhIAyjf.png)
+![|300](https://i.imgur.com/ENhtEDq.png)
+> [!INFO] can you camera help you know where you are without GPS. 
+> could build snensor fusion system using GPS and the camera to improve accuracy. can use 3d maps to compare you camera view with generate views of 3d maps
+
+Vision-based Localisation and Tracking
+- Reprise from our earlier lecture on localisation and tracking using hardware sensors: 
+	- GPS: not working indoors, not very accurate, but (nearly) everywhere available 
+	- Gyro: fast, but a!ected by drift 
+	- Magnetometer: Absolute measurement, error prone 
+- Can we use the camera instead of these sensors or complement some of these sensors?
+
+Computer Vision
+- Computer Vision extracts information from images that are relevant to a particular set of services. 
+- Services that machine vision can provide to HCI include 
+- Detection 
+	- Determines the presence or the absence of an entity of a given type 
+- Identification 
+	- Recognizing what entity of the class is present in the scene 
+- Tracking 
+	- Determining the location of an entity over time. 
+- Entities include: 
+	- Real-world objects used as instruments, or tools 
+	- Human body including face, fingers, hands and feet, or the whole body 
+	- Activities such as typing, standing up, walking, entering a doorway or shaking hands
+
+• Reprise: • Degrees of Freedom (DoF): Number of parameters of the system that may vary independently. • E.g. a Compass has 1DoF, Accelerometers 3DoF, • 6DoF: posX, posY, posZ, rotX, rotY, rotZ • Localisation: Computing ones pose assuming no prior knowledge (usually in 6DoF, and often not in real-time) • Tracking: Computing ones pose using prior knowledge (usually in 6DoF, and often not in real-time) V
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diff --git a/content/notes/info-305.md b/content/notes/info-305.md
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@@ -26,4 +26,5 @@ tags:
 - [x] [[09-location-sensors-3]]
 - [x] [[10-orientation-sensors]] 
 - [x] [[11-orientation sensors-2]]
+- [ ] [[12-advanced-sensing-and-vision-sensors]]
 # Info
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