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2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Parallel Tracking and Mapping for Small AR Workspaces
Nara, Japan
November 13-November 16
ISBN: 978-1-4244-1749-0
Georg Klein, Active Vision Laboratory, Department of Engineering Science, University of Oxford. e-mail: gk@robots.ox.ac.uk
David Murray, Active Vision Laboratory, Department of Engineering Science, University of Oxford. e-mail: dwm@robots.ox.ac.uk
This paper presents a method of estimating camera pose in an unknown scene. While this has previously been attempted by adapting SLAM algorithms developed for robotic exploration, we propose a system specifically designed to track a hand-held camera in a small AR workspace. We propose to split tracking and mapping into two separate tasks, processed in parallel threads on a dual-core computer: one thread deals with the task of robustly tracking erratic hand-held motion, while the other produces a 3D map of point features from previously observed video frames. This allows the use of computationally expensive batch optimisation techniques not usually associated with real-time operation: The result is a system that produces detailed maps with thousands of landmarks which can be tracked at frame-rate, with an accuracy and robustness rivalling that of state-of-the-art model-based systems.
Citation:
Georg Klein, David Murray, "Parallel Tracking and Mapping for Small AR Workspaces," ismar, pp.1-10, 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality, 2007
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