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2009 8th IEEE International Symposium on Mixed and Augmented Reality
Parallel Tracking and Mapping on a camera phone
Orlando, FL, USA
October 19-October 22
ISBN: 978-1-4244-5390-0
Georg Klein, Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK
David Murray, Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK
Camera phones are a promising platform for hand-held augmented reality. As their computational resources grow, they are becoming increasingly suitable for visual tracking tasks. At the same time, they still offer considerable challenges: Their cameras offer a narrow field-of-view not best suitable for robust tracking; images are often received at less than 15Hz; long exposure times result in significant motion blur; and finally, a rolling shutter causes severe smearing effects. This paper describes an attempt to implement a keyframe-based SLAMsystem on a camera phone (specifically, the Apple iPhone 3G). We describe a series of adaptations to the Parallel Tracking and Mapping system to mitigate the impact of the device's imaging deficiencies. Early results demonstrate a system capable of generating and augmenting small maps, albeit with reduced accuracy and robustness compared to SLAM on a PC.
Citation:
Georg Klein, David Murray, "Parallel Tracking and Mapping on a camera phone," ismar, pp.83-86, 2009 8th IEEE International Symposium on Mixed and Augmented Reality, 2009
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