I'm looking for a good breakdown and explanation of Google's 'Tango' AR platform. Specifically how the hardware works together to generate depth maps and the SDK's use of it.
I know the hardware composes of a fisheye lens camera and an RGB-I camera. I am only familiar with stereo vision with identical cameras and disparity maps, I am thinking the different lenses and camera elements make it easier to distinguish variations in the environment but must have some very special (and proprietary) algorithms. However, there must actually some special hardware and dedicated chipsets for processing the depth map to take the burden off the CPU/GPU?
Also, for the AR software implementation, I assume the SDK has some GPU utilization built into it like OpenCL or CUDA (but specific for the Adreno GPU). Does it simply use OpenCL (this is supported by the Adreno GPU) or does it have something proprietary from Google similar to CUDA for the nVidia chipsets?
Basis for the question - I work with OpenCV some and am experimenting with stereo vision applications, but would like to move on to developing apps for specialized hardware and this sounds like the right (maybe only?) platform.