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 Welcome to Sensor-fusion Demo's documentation!
 ==============================================
 
+$project demonstrates the capabilities of various sensors and sensor-fusions. Data from the Gyroscope, Accelerometer and compass are combined in different ways and the result is shown as a cube that can be rotated by rotating the device.
+
+
+Features
+--------
+
+The major novelty in this application is the fusion of virtual sensors: **Improved Orientation Sensor 1** and **Improved Orientation Sensor 2** fuse the Android Rotation Vector with the virtual Gyroscope sensor to achieve a pose estimation with a previously unknown stability and precision.
+
+Apart from these two sensors, the following sensors are available for comparison:
+
+- Improved Orientation Sensor 1 (Sensor fusion of Android Rotation Vector and Calibrated Gyroscope - less stable but more accurate)
+- Improved Orientation Sensor 2 (Sensor fusion of Android Rotation Vector and Calibrated Gyroscope - more stable but less accurate)
+- Android Rotation Vector (Kalman filter fusion of Accelerometer + Gyroscope + Compass)
+- Calibrated Gyroscope (Separate result of Kalman filter fusion of Accelerometer + Gyroscope + Compass)
+- Gravity + Compass
+- Accelerometer + Compass
+
+This application was developed for demonstrating the sensor fusion approach developed for my `Master Thesis "Sensor fusion for robust outdoor Augmented Reality tracking on mobile devices <http://my-it.at/media/MasterThesis-Pacha.pdf>`_ at the `Human Interface Technology Laboratory New Zealand <http://www.hitlabnz.org>`_.
+
+Installation
+------------
+
+This project is an Gradle-based Android Studio project. It is also published in the `Google Play Store <https://play.google.com/store/apps/details?id=org.hitlabnz.sensor_fusion_demo>`_, if you just want to try it out. 
+
+Contribute
+----------
+
+- Issue Tracker: github.com/$project/$project/issues
+- Source Code: github.com/$project/$project
+
+1. Fork it
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create new Pull Request
+
+Support
+-------
+
+If you are having issues, please let us know.
+We have a mailing list located at: project@google-groups.com
+
+Released under the MIT license.
+
+Copyright, 2016, by `Alexander Pacha <http://my-it.at>`_ and the `Human Technology Laboratory New Zealand <http://www.hitlabnz.org>`_ .
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+
+This application also uses parts from the the Android Open Source Project, licensed under the `Apache License, Version 2.0 <http://www.apache.org/licenses/LICENSE-2.0>`_ .
+
+
 .. toctree::
    :maxdepth: 2
    :caption: Contents:
 
-
-
-Indices and tables
-==================
-
-* :ref:`genindex`
-* :ref:`modindex`
-* :ref:`search`