Spatial Mapping Using HoloLens 2. A Proposal for Improvement and an Analysis of Inner Workings

Abstract

In this thesis we focus on improving the spatial mapping of Microsoft's augmented reality glasses HoloLens 2. Firstly, an in depth analysis of inner workings and limitations, based on public resources, is conducted. This is then followed by a series of experiments in a small and simple indoor environment, the experiments are designed to extract additional information about the mapping which could not be found through public resources. Some of the experiments have also been conducted with a light detection and ranging (LiDAR) device of the type Velodyne VLP-16. A comparison between the two indicate that HoloLens 2 is able to perform at the same level.

The information from the analysis and experiments provide a strong foundation for improvement of the mapping. Only a simple algorithm have been implemented and tested, but in chapter 6 a series of recommendations and ideas for how to proceed with this project are listed. The implemented algorithm uses plane fitting to "pull" points within a certain distance onto the plane. This helps to improve structures that were originally flat, such as walls and floors.