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ITrackU: tracking a pen-like instrument via UWB-IMU fusion

Authors:

Ashutosh Dhekne,

Mostafa AmmarAuthors Info & Claims

MobiSys '21: Proceedings of the 19th Annual International Conference on Mobile Systems, Applications, and Services

Pages 453 - 466

https://doi.org/10.1145/3458864.3467885

Published: 24 June 2021 Publication History

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Abstract

High-precision tracking of a pen-like instrument's movements is desirable in a wide range of fields spanning education, robotics, and art, to name a few. The key challenge in doing so stems from the impracticality of embedding electronics in the tip of such instruments (a pen, marker, scalpel, etc.) as well as the difficulties in instrumenting the surface that it works on. In this paper, we present ITrackU, a movement digitization system that does not require modifications to the surface or the tracked instrument's tip. ITrackU fuses locations obtained using ultra-wideband radios (UWB), with an inertial and magnetic unit (IMU) and a pressure sensor, yielding multidimensional improvements in accuracy, range, cost, and robustness, over existing works. ITrackU embeds a micro-transmitter at the base of a pen which creates a trackable beacon, that is localized from the corners of a writing surface. Fused with inertial motion sensor and a pressure sensor, ITrackU enables accurate tracking. Our prototype of ITrackU covers a large 2.5m × 2m area, while obtaining around 2.9mm median error. We demonstrate the accuracy of our system by drawing numerous shapes and characters on a whiteboard, and compare them against a touchscreen and a camera-based ground-truthing system. Finally, the produced stream of digitized data is minuscule in volume, when compared with a video of the whiteboard, which saves both network bandwidth and storage space.

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Cited By

Ma JZhang FJin BSu CLi SWang ZNi J(2024)Push the Limit of Highly Accurate Ranging on Commercial UWB DevicesProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36596028:2(1-27)Online publication date: 15-May-2024
https://dl.acm.org/doi/10.1145/3659602
Cao YDhekne AAmmar MOkoshi TKo JLiKamWa R(2024)UTrack3D: 3D Tracking Using Ultra-wideband (UWB) RadiosProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661881(345-358)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661881
Wu YChen SMeng XTong XLiu XXie XQu WOkoshi TKo JLiKamWa R(2024)Enabling 6D Pose Tracking on Your Acoustic DevicesProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661875(15-28)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661875
Show More Cited By

Index Terms

ITrackU: tracking a pen-like instrument via UWB-IMU fusion
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Sensors and actuators
2. Human-centered computing
  1. Ubiquitous and mobile computing
    1. Ubiquitous and mobile devices

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cover image ACM Conferences

MobiSys '21: Proceedings of the 19th Annual International Conference on Mobile Systems, Applications, and Services

June 2021

528 pages

ISBN:9781450384438

DOI:10.1145/3458864

General Chair:
Suman Banerjee
University of Wisconsin-Madison
,
Program Chairs:
Luca Mottola
Politecnico di Milano
,
Xia Zhou
Dartmouth College

Copyright © 2021 ACM.

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Published: 24 June 2021

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MobiSys '21: The 19th Annual International Conference on Mobile Systems, Applications, and Services

June 24 - July 2, 2021

Wisconsin, Virtual Event

Acceptance Rates

MobiSys '21 Paper Acceptance Rate 36 of 166 submissions, 22%;

Overall Acceptance Rate 274 of 1,679 submissions, 16%

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Cited By

Ma JZhang FJin BSu CLi SWang ZNi J(2024)Push the Limit of Highly Accurate Ranging on Commercial UWB DevicesProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36596028:2(1-27)Online publication date: 15-May-2024
https://dl.acm.org/doi/10.1145/3659602
Cao YDhekne AAmmar MOkoshi TKo JLiKamWa R(2024)UTrack3D: 3D Tracking Using Ultra-wideband (UWB) RadiosProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661881(345-358)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661881
Wu YChen SMeng XTong XLiu XXie XQu WOkoshi TKo JLiKamWa R(2024)Enabling 6D Pose Tracking on Your Acoustic DevicesProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661875(15-28)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661875
Bai YShahid ITakawale HRoy N(2024)ScribeProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/36314117:4(1-31)Online publication date: 12-Jan-2024
https://dl.acm.org/doi/10.1145/3631411
Kara DKimura TLiu SLi JLiu DWang TWang RChen YHu YAbdelzaher TChua TNgo CKa-Wei Lee RKumar RLauw H(2024)FreqMAE: Frequency-Aware Masked Autoencoder for Multi-Modal IoT SensingProceedings of the ACM Web Conference 202410.1145/3589334.3645346(2795-2806)Online publication date: 13-May-2024
https://dl.acm.org/doi/10.1145/3589334.3645346
Luo ZHuang QChen XWang RWu FChen GZhang Q(2024)Spectrum Sensing Everywhere: Wide-Band Spectrum Sensing With Low-Cost UWB NodesIEEE/ACM Transactions on Networking10.1109/TNET.2023.334297732:3(2112-2127)Online publication date: Jun-2024
https://doi.org/10.1109/TNET.2023.3342977
Liu JZhang LXu JShi J(2024)Dynamic Feasible Region-Based IMU/UWB Fusion Method for Indoor PositioningIEEE Sensors Journal10.1109/JSEN.2024.339878924:13(21447-21457)Online publication date: 1-Jul-2024
https://doi.org/10.1109/JSEN.2024.3398789
Hu JJiang HXiao ZChen SDustdar SLiu J(2024)HeadTrack: Real-Time Human–Computer Interaction via Wireless EarphonesIEEE Journal on Selected Areas in Communications10.1109/JSAC.2023.334538142:4(990-1002)Online publication date: Apr-2024
https://doi.org/10.1109/JSAC.2023.3345381
Song KNi TSong LXu W(2023)Emma: An accurate, efficient, and multi-modality strategy for autonomous vehicle angle predictionIntelligent and Converged Networks10.23919/ICN.2023.00044:1(41-49)Online publication date: Mar-2023
https://doi.org/10.23919/ICN.2023.0004
Arun ASaruwatari SShah SBharadia DEskicioglu RHuang PPatwari N(2023)XRLoc: Accurate UWB Localization to Realize XR DeploymentsProceedings of the 21st ACM Conference on Embedded Networked Sensor Systems10.1145/3625687.3625810(459-473)Online publication date: 12-Nov-2023
https://dl.acm.org/doi/10.1145/3625687.3625810
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