2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR) (2009)
Orlando, FL, USA
Oct. 19, 2009 to Oct. 22, 2009
David Murray , Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK
Georg Klein , 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.
David Murray, Georg Klein, "Parallel Tracking and Mapping on a camera phone", 2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR), vol. 00, no. , pp. 83-86, 2009, doi:10.1109/ISMAR.2009.5336495