Realty and Reality: Where Location Matters

We demonstrate an indoor location solution for mobile devices based on fusion of ultra-wideband (UWB) time-offlight (TOF) ranges and visual-inertial odometry (VIO) provided by Apple’s ARKit. VIO provides accurate position and orientation tracking relative to device start-up, and UWB provides global location estimates. We use a battery-powered Raspberry Pi (RPi) with a UWB module as a beacon. We localize a consumer smartphone with an attached RPi and UWB module (tag).