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2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR) (2007)
Nara, Japan
Nov. 13, 2007 to Nov. 16, 2007
ISBN: 978-1-4244-1749-0
pp: 1-10
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
ABSTRACT
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.
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CITATION
Georg Klein, David Murray, "Parallel Tracking and Mapping for Small AR Workspaces", 2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), vol. 00, no. , pp. 1-10, 2007, doi:10.1109/ISMAR.2007.4538852
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