Moving Visual-Inertial Ordometry into Cross-platform Web for Markerless Augmented Reality

Widespread mobile AR implementation still suffers from the unique adaption for different mobile platforms. Enabling AR experience on the cross-platform web is a potential alternative and provides unified implementation. We reveal a lightweight VIO implementation on the web without any visual marker or cumbersome frameworks for AR services. The contributions include 1) designing a novel VIO architecture to balance the user experience and the efficiency; 2) optimizing a single-thread VIO algorithm to avoid the sophisticated multi-threading management and enhancing compatibility; 3) improving the dirty noise of IMU and developing efficient numerical libraries like SuiteSparse for the massive computation afford.