On assessing the positioning accuracy of Google Tango in challenging indoor environments

The major challenges for optical based tracking are the lighting condition, the similarity of the scene, and the position of the camera. This paper demonstrates that under such conditions, the positioning accuracy of Google's Tango platform may deteriorate from fine-grained centimetre level to metre level. The paper proposes a particle filter based approach to fuse the WiFi signal and the magnetic field, which are not considered by Tango, and outlines a dynamic positioning selection module to deliver seamless tracking service in these challenging environments.