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CHAPTER 1
INTRODUCTION
3D models represent a 3D object using a collection of points in a given 3D space,
connected by various entities such as curved surfaces, triangles, lines, etc.Being a collection
of data which includes points and other information, 3D models can be created by hand,
scanned (procedural modeling), or algorithmically. The "Project Tango" prototype is an
Android smartphone-like device which tracks the 3D motion of particular device, and creates
a 3D model of the environment around it.
Project Tango was introduced by Google initially in early 2013,they described this as
a Simultaneous Localisation and Mapping(SLAM) system capable of operating in real-time
on a phone.Google’s ATAP teamed up with a number of organizations to create Project
Tango from this description.
The team at Google’s Advanced Technology and Projects Group (ATAP) has been
working with various Universities and Research labs to harvest ten years of research in
Robotics and Computer Vision to concentrate that technology into a very unique mobile
phone. We are physical being that live in a 3D world yet the mobile devices today assume that
the physical world ends the boundaries of the screen. Project Tango’s goal is to give mobile
devices a human scale understanding of space and motion. This project will help people
interact with the environment in a fundamentally different way and using this technology we
can prototype in a couple of hours something that would take us months or even years before
because we did not have this technology readily available. Imagine having all this in a
smartphone and see how things would change.
This device runs Android and includes development APIs to provide alignment,
position or location, and depth data to regular Android apps written in C/C++, Java as well as
the Unity Game Engine(UGE). These early algorithms, prototypes, and APIs are still in active
development. So, these are experimental devices and are intended only for the exploratory and
adventurous are not a final shipping product.
Project Tango is a prototype phone containing highly customized hardware and
software designed to allow the phone to track its motion in full 3D in real-time. The sensors
make over a quarter million 3D measurements every single second updating the position and

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rotation of the phone, blending this data into a single 3D model of the environment. It tracks
ones position as one goes around the world and also makes a map of that. It can scan a small
section of your room and then are able to generate a little game world in it. It is an open
source technology. ATAP has around 200 development kits which has already been
distributed among the developers.
Google has produced two devices to demonstrate the Project Tango technology: the
Peanut phone(no longer available) and the Yellowstone 7-inch tablet. More than 3000 of these
devices had been sold as of June 2015,chiefly to researchers and software developers
interested in building applications for the platform.In the summer of 2015,Qualcomm and
Intel both announced that they are developing Project Tango reference devices as models for
device manufacturers who use their mobile chipsets.
At CES, in January 2016, Google announced a partnership with Lenovo to release a
consumer smartphone during the summer of 2016 to feature Project Tango technology
marketed at consumers, noting a less than $500 price-point and a small form factor below 6.5
inches. At the same time, both companies also announced an application incubator to get
applications developed to be on the device on launch.
Fig(1): Google’s Project Tango Logo

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Which companies are behind Project Tango?
A number of companies came together to develop Project Tango.All of
these are listed in the credit of Google Project Tango introduction video called “Say hello to
Project Tango!”. Each companies has had a different amount of involvement. The following
are the list of participating companies listed in that video:
 Bosch
 BSquare
 ETH Zurich
 Flyby Media
 George Washington University
 HiDOF
 MMSolutions
 Movidius
 University of Minnesota
 NASA JPL
 Ologic
 OmniVision
 Open Source Robotic Foundation
 ParaCosm
 Sunny Optical Tech
 Speck Design

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CHAPTER 2
OVERVIEW
WHAT IS PROJECTTANGO?
Tango allows a device to build up an accurate 3D model of it’s
immediate surroundings, which Google says which is useful for everything from AR gaming
to navigating large shopping centres.
Fig(2): A view of Google’s Project Tango 3D Model Mapping
Google isn’t content with making softwares for phones that can merely
capture 2D photos and videos. Nor does it just want to take stereoscopic 3D snaps. Instead
Project Tango is bid to equip every mobile device with a powerful suite of software and
sensors that can capture a complete 3D picture of the world around it, in real time. Why? So

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you can map your house,furniture, and all simply by walking around it. Bingo-no more
measuring up before going shopping for a wardrobe. Or so you can avoid getting lost next
time you go to the hospital – you’ll have instant access to a 3D plan of it’s labyrinthine
corridors. Or so can play augmented reality games. Or so that can the visually impaired can
receive extra help in getting around.
WHAT DOES THE PHONE LOOK LIKE?
There are two prototypes of Tango phone yet. A 7 inch tablet and another
prototype of a 5 inch phone.
Fig(3): Prototype 1
It is a fairly standard 7 inch slate with a slight wedge at the back to
accommodate the extre sensors. As far as we can tell, it has three cameras including the
webcam. Inside it has one Nvidia’s so-far-untested Tegra K1 mobile processors with a beefy
4GB of RAM and a 128GB SSD. Google is at pains to point out that it’s not a consumer
device, but one is supposedly on the way. The depth-sensing array consists of an infrared
projector, 4MB rear camera and front-facing fisheye view lens with 180- degree field of
vision. Physically, it’s a standard phone shape but rather chunky compared to the class of
2014. More like something about 2010.

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Fig(4): Prototype 2
Prototype 2 is an android 5 inch smartphone with same tango hardware as that of the tablet.

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Fig(5): A simple Overview of Components of Tango Phone
Google's Project Tango is a smartphone equipped with a variety of cameras and vision
sensors that provides a whole new perspective on the world around it. The Tango smartphone
can capture a wealth of data never before available to application developers, including depth
and object-tracking and instantaneous 3D mapping. And it is almost as powerful and as big as
a typical smartphone.
Project Tango is different from other emerging 3D-sensing computer vision products,
such as Microsoft Hololens, in that it's designed to run on a standalone mobile phone or tablet
and is chiefly concerned with determining the device's position and orientation within the
environment.
The high-end Android tablet with 7-inch HD display, 4GB of RAM, 128GB of
internal SSD storage and an NVIDIA Tegra K1 graphics chip (the first in the US and second
in the world) that features desktop GPU architecture. It also has a distinctive design that
consists of an array of cameras and sensors near the top and a couple of subtle grips on the
sides. Movidius which is the company that developed some of the technology which has been
used in Tango has been working on computer vision technology for the past seven years - it
developed the processing chips used in Project Tango, which Google paired with sensors and
cameras to give the smartphone the same level of computer vision and tracking that formerly

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required much larger equipment. The phone is equipped with a standard 4-megapixel camera
paired with a special combination of RGB and IR sensor and a lower-resolution image-
tracking camera. These combos of image sensors give the smartphone a similar perspective on
the world, complete with 3-D awareness and a awareness of depth. They supply information
to Movidius custom Myriad 1 low- power computer-vision processor, which can then process
the data and feed it to apps through a set of APIs. The phone also contains a Motion Tracking
camera which is used to keep track of all the motions made by the user.
CHAPTER 3
SMARTPHONE SPECIFICATION
Tango wants to deconstruct reality, taking a quarter million 3D measurements each
second to create a real-time 3D model that describes the physical depth of its surroundings.
The smartphone specs are

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The above specs include Snapdragon 800 quad core CPU running up to 2.3 GHz per
core, 2GB or 4GB of memory, an expandable 64GB or 128 of internal storage, and a nine axis
accelerometer/gyroscope/compass. There’s also a Mini-USB, a Micro-USB, and USB 3.0.
In addition to above specs Tango’s specs also include: a rear-facing four megapixel
RGB/infrared camera, a 180-degree field-of-view fisheye rear-facing camera, a 120-degree
field- of-view front facing camera, and a 320 x 180 depth sensor – plus a vision processor
with one teraflop of computer power. Project Tango uses a 3000 mAh battery.
CHAPTER 4
HARDWARE
Project Tango is basically a camera and sensor array that happens to run on an
Android phone. The smartphone is equipped with a variety of cameras and vision sensors that
provides a whole new perspective on the world around it. The Tango smartphone can capture
a wealth of data never before available to application developers, including depth and object-

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tracking and instantaneous 3D mapping. And it is almost as powerful and as big as a typical
smartphone. The Front View and Back View of a Tango Phone is shown below.
It is same like some other phones but the phone is having variety of cameras and
sensors that make the 3D modelling of the environment possible.
Fig (6) Tango Phone Front View
The device tracks the 3D motion and creates a 3D model of the environment around it
by using the array of cameras and sensors. The phone emits pulses of infrared light from the
IR projector and records how it is reflected back allowing it to build a detailed depth map of
the surrounding space.
There are three cameras that capture a 120-degree wide-angle field of view. 3D
camera captures the 3D structure of a scene. Most cameras are 2D, meaning they are a
projection of the scene onto the camera's imaging plane; any depth information is lost. In
contrast, a 3D camera also captures the depth dimension (in addition to the standard 2D
data).A rear-facing four megapixel RGB/infrared camera, a 180-degree field-of-view fisheye
rear-facing camera, a 120-degree field- of-view front facing camera, and a 320 x 180 depth
sensor are the components of the phone at the rear end that works together to give the 3D
structure of the scene.

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Fig (7) Tango Phone Back View
Project Tango, which Google paired with sensors and cameras to give the smartphone
the same level of computer vision and tracking that formerly required much larger equipment.
The phone is equipped with a standard 4-megapixel camera paired with a special combination
of RGB and IR sensor and a lower-resolution image-tracking camera. These combos of image
sensors give the smartphone a similar perspective on the world, complete with 3-D awareness
and a awareness of depth. They supply information to Movidius custom Myriad 1 low-power
computer-vision processor, which can then process the data and feed it to apps through a set
of APIs. The phone also contains a Motion Tracking camera which is used to keep track of all
the motions made by the user.
The phone is equipped with a standard 4-megapixel camera paired with a special
combination of RGB and IR sensor and a lower-resolution image-tracking camera..As the
main camera, the Tango uses OmniVision’s OV4682. It is the eye of Project Tango’s mobile
device. The OV4682 is a 4MP RGB IR image sensor that captures high-resolution images and
video as well as IR information, enabling depth analysis.

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Fig(9):Front and rear camera Fig(10):Fisheye camera
Fig(11):IR projector
Integrated depth sensor

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CHAPTER 5
TECHNOLOGY BEHIND TANGO
5.1 TANGO’S SENSOR
Myriad 1 vision processor platform developed by Movidius Company. The sensors
allow the device to make "over a quarter million 3D measurements every second, updating its
position and orientation in real time, combining that data into a single 3D model of the space
around you. Movidius which is the company that developed some of the technology which
has been used in Tango has been working on computer vision technology for the past seven
years - it developed the processing chips used in Project Tango, which Google paired with
sensors and cameras to give the smartphone the same level of computer vision and tracking
that formerly required much larger equipment.
5.2 IMAGE SENSORS
Image sensors give the smartphone a similar perspective on the world, complete with
3-D awareness and a awareness of depth which is then supplied information to Movidius
custom Myriad 1 low-power computer-vision processor, which can then process the data and
feed it to apps through a set of APIs. The Motion Tracking camera keeps track of all the
motions made by the user. . There are three cameras that capture a 120-degree wide-angle
field of view from the front. An even wider 180 degree span from the back.The phone is
equipped with a standard 4-megapixel camera paired with a special combination of RGB and
IR sensor and a lower-resolution image-tracking camera. Its depth-sensing array consists of an
infrared projector, 4MP rear camera and front-facing fisheye view lens with 180-degree field
of vision. The phone emits pulses of infrared light from the IR projector and records how it is
reflected back allowing it to build a detailed depth map of the surrounding space. The data

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collected from sensors and camera is processed by the Myriad vision processor for delivering
3D structure of the view to the apps.
CHAPTER 6
WORKING CONCEPT
Project Tango devices combine the camera, gyroscope and accelerometer to estimate
six degrees of freedom motion tracking, providing developers the ability to track 3D motion
of a device while simultaneously creating a map of the environment.
An IR projector provides infrared light that other (non-RGB) cameras can use to get a
sense of an area in 3D space. The phone emits pulses of infrared light from the IR projector
and records how it is reflected back allowing it to build a detailed depth map of the
surrounding space. There are three cameras that capture a 120-degree wide-angle field of
view from the front. An even wider 180 degree span from the back. A 4-MP color camera
sensor can also be used for snapping regular pics. A 3D camera captures the 3D structure of a
scene. Most cameras are 2D, meaning they are a projection of the scene onto the camera's
imaging plane; any depth information is lost. In contrast, a 3D camera also captures the depth
dimension (in addition to the standard 2D data).
The main camera, the Tango uses OmniVision’s OV4682. It is the eye of Project
Tango’s mobile device. The OV4682 is a 4MP RGB IR image sensor that captures high-
resolution images and video as well as IR information, enabling depth analysis. The sensor
features a 2um OmniBSI-2 pixel and records 4MP images and video in a 16:9 format at 90fps.
The sensor's 2-micron OmniBSI-2 pixel delivers excellent signal-to-noise ratio and IR
sensitivity, and offers best-in-class low-light sensitivity. The OV4682's unique architecture
and pixel optimization bring not only the best IR performance but also best-in-class image
quality. The OV4682 records full-resolution 4-megapixel video in a native 16:9 format at 90
frames per second (fps), with a quarter of the pixels dedicated to capturing IR. The 1/3- inch
sensor can also record 1080p high definition (HD) video at 120 fps with electronic image
stabilization (EIS), or 720p HD at 180 fps. The OV7251 Camera Chip sensor is capable of

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capturing VGA resolution video at 100fps using a global shutter. RGB infrared (IR) single
sensor that captures high-resolution images and video as well as IR information. Its dual RGB
and IR capabilities allow it to bring a host of additional features to mobile and machine vision
applications, including gesture sensing, depth analysis, iris detection and eye tracking.
The another camera is fisheye lens enables a 180º FOV, while the sensor balances
resolution and frames per second to record black and white images for motion tracking. So if
the users moves the devices left or right, it draws the path that the devices and that path
followed is show in the image on the right in real-time. Thus through this we have a motion
capture capabilities in our device. The device also has a depth sensor.
Fig(12):The image represents the feed from the fish-eye lens
Fig(13):Computer vision

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The figure above illustrates depth sensing by displaying a distance heat map on top of
what the camera sees, showing blue colors on distant objects and red colors on close by
objects. It also the data from the image sensors and paired with the device's standard motion
sensors and gyroscopes to map out paths of movement down to 1 percent accuracy and then
plot that onto an interactive 3D map. It uses the Sensor fusion technology which combines
sensory data or data derived from sensory data from disparate sources such that the resulting
information is in some sense better than would be possible when these sources were used
separately. Thus it means a more precise, more comprehensive, or more reliable, or refer to
the result of an emerging view, such as stereoscopic vision.
These combos of image sensors give the smartphone a similar perspective on the
world, complete with 3-D awareness and a awareness of depth. They supply information to
Movidius custom Myriad 1 low-power computer-vision processor, which can then process the
data and feed it to apps through a set of APIs. The phone also contains a Motion Tracking
camera which is used to keep track of all the motions made by the user.
Mantis Vision, a developer of some of the world's most advanced 3D enabling
technologies research MV4D technology platform is the core 3D engine behind Google's
Project Tango. Mantis Vision provides the 3D sensing platform, consisting of flash projector
hardware components and Mantis Vision's core MV4D technology which includes structured
light-based depth sensing algorithms which generates realistic, dense maps of the world. It
focuses to provide reliable estimates of the pose of a phone i.e. position and alignment,
relative to its environment, dense maps of the world. It focuses to provide reliable estimates of
the pose of a phone (position and alignment), relative to its environment.

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CHAPTER 7
PROJECT TANGO CONCEPTS
Project Tango is different from other emerging 3D-sensing computer vision products,
such as Microsoft HoloLens, in that it's designed to run on a standalone mobile phone or
tablet and is chiefly concerned with determining the device's position and orientation within
the environment.
The software works by integrating three types of functionality:
7.1 Motion Tracking
Motion tracking allows a device to understand position and orientation using Project
Tango's custom sensors. This gives you real-time information about the 3D motion of a
device. Motion-tracking: using visual features of the environment, in combination with
accelerometer and gyroscope data, to closely track the device's movements in space. Project
Tango’s core functionality is measuring movement through space and understanding the area
moved through. Google API’s provide the position and orientation of the user’s device in full
six degrees of freedom, referred to as its pose.

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Fig (14) Motion Tracking
7.2 Area Learning
Using area learning, a Project Tango device can remember the visual features of the
area it is moving through and recognize when it sees those features again. These features can
be saved in an Area Description File (ADF) to use again later. Project Tango devices can use
visual cues to help recognize the world around them. With an ADF loaded, Project Tango
devices gain a new feature called drift corrections or improved motion tracking.
Area learning is the way of storing environment data in a map that can be re-used
later, shared with other Project Tango devices, and enhanced with metadata such as notes,
instructions, or points of interest.

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Fig (15) Area Learning
7.3 Depth Perception
Project Tango devices are equipped with integrated 3D sensors that measure the
distance from a device to objects in the real world. This configuration gives good depth at a
distance while balancing power requirements for infrared illumination and depth processing.

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The depth data allows an application to understand the distance of visible objects to
the device. By combining depth perception with motion tracking, you can also measure
distance between points in an area that aren’t in the same fame.
Project Tango devices are equipped with integrated 3D sensors that measure the
distance from a device to objects in the real world. Current devices are designed to work best
indoors at moderate distances (0.5 to 4 meters). It may not be ideal for close range object
scanning. Because the technology relies on viewing infrared light using the device's camera,
there are some situations where accurate depth perception is difficult. Areas lit with light
sources high in IR like sunlight or incandescent bulbs, or objects that do not reflect IR light
cannot be scanned well.
By combining depth perception with motion tracking, you can also measure distances
between points in an area that aren't in the same frame.
Fig (16) Depth Perception

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Together, these generate data about the device in "six degrees of freedom" (3 axes of
orientation plus 3 axes of motion) and detailed three-dimensional information about the
environment.
Applications on mobile devices use Project Tango's C and Java APIs to access this
data in real time. In addition, an API is also provided for integrating Project Tango with the
Unity game engine; this enables the rapid conversion or creation of games that allow the user
to interact and navigate in the game space by moving and rotating a Project Tango device in
real space. These APIs are documented on the Google developer website.
CHAPTER 8
DEVICES DEVELOPED SO FAR
As a platform for software developers and a model for device manufacturers, Google
has created two Project Tango devices to date.
The Yellowstone tablet
Google's Project Tango tablet, 2014 "Yellowstone" is a 7-inch tablet with full
Project Tango functionality, released in June 2014, and sold as the Project Tango Tablet
Development Kit.[7] It features a 2.3 GHz quad-core Nvidia Tegra K1 processor, 128GB
flash memory, 1920x1200-pixel touchscreen, 4MP color camera, fisheye-lens (motion-
tracking) camera, integrated depth sensing, and 4G LTE connectivity. The device is sold
through the official Project Tango website and the Google Play Store.

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The Peanut phone
"Peanut" was the first production Project Tango device, released in the first quarter
of 2014. It was a small Android phone with a Qualcomm MSM8974 quad-core processor and
additional special hardware including a fisheye-lens camera (for motion tracking), "RGB-IR"
camera (for color images and infrared depth detection), and Movidius image-processing chips.
A high- performance accelerometer and gyroscope were added after testing several
competing models in the MARS lab at the University of Minnesota.
Several hundred Peanut devices were distributed to early-access partners including
university researchers in computer vision and robotics, as well as application developers and
technology. Google stopped supporting the Peanut device in September 2015, as by then the
Project Tango software stack had evolved beyond the versions of Android that run on the
device.
Testing by NASA
In May 2014, two Peanut phones were delivered to the InternatInternat
ionalional Space Station to be part of a NASA project to develop autonomous robots
that navigate in a variety of environments, including outer space. The soccer-ball-sized, 18-
sided polyhedral SPHERES robots were developed at the NASA Ames Research Center,
adjacent to the Google campus in Mountain View, California. Andres Martinez, SPHERES
manager at NASA, said "We are researching how effective Project Tango's vision-based
navigation abilities are for performing localization and navigation of a mobile free flyer on
ISS.

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CHAPTER 9
FUTURE SCOPE
Project Tango seeks to take the next step in this mapping evolution. Instead of
depending on the infrastructure, expertise, and tools of others to provide maps of the world,
Tango empowers users to build their own understanding, all with a phone. Imagine knowing
your exact position to within inches. Imagine building 3D maps of the world in parallel with
other users around you. Imagine being able to track not just the top down location of a device,
but also its full 3D position and alignment. The technology is ambitious, the potential
applications are powerful. The Tango device really enables augmented reality which opens a

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whole frontier for playing games in the scenery around you. You can capture the room, you
can then render the scene that includes the room but also adds characters and adds objects so
that you can create games that operate in your natural environment. The applications even go
beyond gaming. Imagine if you could see what room would look like and decorate it with
different types of furniture and walls and create a very realistic scene. This Technology can be
used the guide the visually impaired to give them auditory queues or where they are going.
Can even be used by soldiers in war to replicate the war-zone and prepare for combat or can
even be used to live out one’s own creative fantasies. The possibilities are really endless for
this amazing technology and the future is looking very bright.
Things Project Tango can do:
DIRECTIONS:
When you need directions inside a building or structure that current mapping solutions
just don’t provide. Shopping - who just like to get in and out as quickly as possible. Having an
indoor map of the store in your hand could make shopping trips more efficient by leading you
directly to the shelf you want.
EMERGENCY RESPONSE:
To help emergency response workers such as firefighters find their way through
buildings by projecting the blueprints onto the screen. It has the potential to provide valuable
information in situations where knowing the exact layout of a room can be a matter of life or
death.
AUGMENTED REALITY GAMING:
It could combine the room-mapping with augmented reality.Imagine competing
against a friend for control over territories in your own home with your own miniature army.
Mapping in-game textures onto your real walls through the smartphone would
arguably produce the best game of Cops and Robbers in history.

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CHAPTER 10
CONCLUSION
Project Tango enables apps to track a device's position and orientation within a
detailed 3D environment, and to recognize known environments. This makes possible
applications such as in- store navigation, visual measurement and mapping utilities,
presentation and design tools, and a variety of immersive games.

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At this moment, Tango is just a project but is developing quite rapidly with early
prototypes and development kits already distributed among many developers. It is all up to the
developers now to create more clever and innovative apps to take advantage of this
technology. It is just the beginning and there is a lot of work to do to fine-tune this amazing
technology. Thus, if Project Tango works – and we've no reason to suspect it won't - it could
prove every bit as revolutionary as Maps or earth or android. It just might take a while for its
true genius to become clear.
CHAPTER 11
REFERENCE
 Announcement on ATAP Google, 30 January 2015.
 "Future Phones Will Understand, See the World". 3 June 2015. Retrieved 4
November 2015.
 Slamdance: inside the weird virtual reality of Google's Project Tango". 29 May 2015.

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 Qualcomm Powers Next Generation Project Tango Development Platform, 2015-05-
29
 IDF 2015: Intel teams with Google to bring Real Sense to Project Tango, 2015-08-18
 https://developers.google.com/project-tango/ Google developer website.
 Product announcement on ATAP Google, 5 June 2014, retrieved 4 November 2015
 https://www.google.com/atap/project-tango/ Project Tango website