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OpenARK History
OpenARK was created in 2015 under Professor Allen Yang at Berkeley's FHL Vive Center for Enhanced Reality.
Prior to 2018, early versions of Avatar tracking, Hand tracking, and SLAM were created for OpenARK.
In 2018, OpenARK's SLAM system was overhauled to use OKVIS as the underlying visual-inertial odometry. The main sensor supported by OpenARK shifted to Intel's RealSense line, which used stereo and structured light approaches to capturing depth. Additionally, a 3D reconstruction module was worked on for OpenARK, which used Andy Zeng's TSDF implementation, https://github.com/andyzeng/tsdf-fusion. However, this was never merged to the OpenARK main branch. For the other AR functionalities, improvements were made to the hand detector and the avatar tracking.
In 2019, OpenARK including an official 3D reconstruction module built upon Open3D's TSDF, https://github.com/isl-org/Open3D.
In 2020, a multi map implementation was introduced for OpenARK's SLAM backend, meaning the system could survive under tracking loss conditions.
In 2021, this multi map implementation was upgraded so that loop closures between maps would lead to the maps being merged. This means not only could the system survive under tracking loss conditions, it could also recover to the tracking prior to tracking loss. Also, OpenARK was tested and successfully built on Ubuntu 18. The SDK now runs on Windows 10 and Ubuntu 18.
In 2022, the code base was refactored into the current directory structure. Another improvement came with the upgrade of BRISK features to ORB features, which are more robust to rotation. Additional work went into testing deep learning features as alternatives to traditional features. Another team worked on developing an object tracking module for OpenARK.