3D Reconstruction Using TangoQuentin Gautier, Steven Lee, Sungwook Son, Jin YuJune 9, 2016AbstractReconstructing models in three dimensions change the way humans visualize. Archaeologists usevisualization to get further knowledge on their findings. Many archeologists today still use the old method ofpencil and paper. This project allows archaeologists to use Google Tango tablet to reconstruct their findingswhile providing real time mapping and feedback. The Google Tango is a portable tablet used in all types ofAugmented Reality and Virtual Reality applications. Our implementation ofOnBoard SLAM generates a3D reconstruction that efficiently uses both CPU and GPU to map while doing calculation. Afterreal field testing in Guatemala, we fixed drift and loss issues found on previous implementation.1. IntroductionThe goal of this project is to implement technological advancements in current field of art andarcheology for further visualization. This visualization not only allows artists and archeologists to detail theirfindings, but also allows them to build a highly scaled model with much deeper depth and detail. Even today,many of the artists and archeologists are limited from many of these modern resources. These artists andarcheologists use an outdated method of drawing a 3D model on paper with pencil. This use of longestablished method, when compared to the use of modern technology, falls behind in many qualities; as thesize of mapping gets larger, visualization through the use of traditional method gets obscure. Thus, withbigger findings, this 3D reconstruction provides better accuracy and efficiency. This project aims to provideartists and archeologists with a mobile system that can reconstruct an underground environment, withrealtime partial or full feedback.The 3D reconstruction Google Tango team is composed of three members and one supervisor. Inour team we have Steven Lee as SLAM specialist, Jin Woong Yu Tango specialist, and Sungwook Son asTango/SLAM jackofall trades. Our team leader, Quentin Gautier, is a current member of Engineers forExploration organization at University of California, San Diego. This organization is involved in manyengineering solutions that goes beyond current technology. In collaboration with this organization, we put aneffort to develop 3D reconstruction capability on a portable device, which will be used to reconstruct thecaves of Guatemala.The main piece of hardware is the Google Tango handheld device that comes with an abundance ofsensors including but not limited to 3D depth sensors, gyroscope, accelerometer, and motion trackingcamera. It has a NVIDIA mobile processor that doubles as a GPU. Project Tango can be easily obtainedwith a price of $500. Its superb processing ability and sensors allows us to reconstruct the area in 3D. Tangois very light and portable that it could be used anywhere. For this project we have used project Tango tomap the caves in Guatemala, but the possibilities are infinite. There are already two devices in ourpossession.