Orlando, FL, USA
Oct. 19, 2009 to Oct. 22, 2009
Robert O. Castle , Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK
David W. Murray , Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK
This paper demonstrates how objects can be recognized, reconstructed, and localized within a 3D map, using observations and matching of SIFT features in keyframes. The keyframes arise as part of a frame-rate process of parallel camera tracking and mapping, in which the keyframe camera poses and 3D map points are refined using bundle adjustment. The object reconstruction process runs independently, and in parallel to, the tracking and mapping processes. Detected objects are automatically labelled on the user's display using predefined annotations. The annotations are also used to highlight areas of interest upon the objects to the user.
Robert O. Castle, David W. Murray, "Object recognition and localization while tracking and mapping", ISMAR, 2009, 2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), 2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR) 2009, pp. 179-180, doi:10.1109/ISMAR.2009.5336477