2007 6th IEEE and ACM Int'l Symp. Mixed and Augmented Reality, pp. 1–10

Typical operation of the system: Here, a desktop is tracked.

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Parallel Tracking and Mapping for Small AR Workspaces

by Georg Klein and David Murray

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. READ FULL ARTICLE (login required) »


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