Parallel Tracking and Mapping for Small AR Workspaces

Klein, Georg; Murray, David

doi:10.1109/ismar.2007.4538852

Cited by 3,428 publications

(2,330 citation statements)

References 20 publications

Supporting

Mentioning

2,302

Contrasting

Unclassified

Order By: Relevance

“…According to Klein and Murray (2007), the computation of this quality is based on the fraction of feature observations which have been successfully corresponded. In this sense, the greater the corresponding 3D-to-2D features, the greater the possibility of incorporating more points into the 3D world map and thus keeping persistence of localization.…”

Section: Simulation Examplementioning

confidence: 99%

“…In this case, the EKF fuses data obtained from the parallel tracking and mapping (PTAM) software (Klein and Murray, 2007) and the inertial unit attached to the robot. In particular, the localization and mapping problems are first solved by means of a real-time structure from motion (SfM) technique with PTAM, where the outcome is then used as a 3D visual sensor.…”

mentioning

confidence: 99%

See 1 more Smart Citation

Vision based persistent localization of a humanoid robot for locomotion tasks

Castelán

Arechavaleta

2016

International Journal of Applied Mathematics and Computer Science

View full text Add to dashboard Cite

Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position.

show abstract

Section: Simulation Examplementioning

confidence: 99%

mentioning

confidence: 99%

Vision based persistent localization of a humanoid robot for locomotion tasks

Castelán

Arechavaleta

2016

International Journal of Applied Mathematics and Computer Science

View full text Add to dashboard Cite

show abstract

“…In (Galvez-Lopez and Tardos, 2011) the authors propose a method to create consistent local and global submaps by addressing the loop closing problem. The Parallel Tracking And Matching (PTAM) (Klein and Murray, 2007) algorithm creates high-quality submaps by separating localization and mapping and processing them on parallel threads on a dual-core computer. Uncertainty in submaps is reduced by exploiting limited batch processing without affecting real-time localization.…”

Section: State-of-the-artmentioning

confidence: 99%

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Maier-Hein

Mountney

Bartoli

et al. 2013

Medical Image Analysis

234

128

View full text Add to dashboard Cite

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon's navigation capabilites by observing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted instruments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D optical imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions.

show abstract

“…Therefore the pose and the position of the moving user's camera should be obtained so that the virtual objects can be overlaid at correct position in the real world according to the camera motion. Such camera tracking should also be performed in real-time for interactive operations of the AR applications [15], [16]. Above diagram (Fig.…”

Section: Mobile Augmented Realitymentioning

confidence: 99%

Ubiquitous Mobile Real Time Visual Translator Using Augmented Reality for Bahasa Language

Parhizkar¹,

Oteng²,

Ndaba³

et al. 2013

IJIET

View full text Add to dashboard Cite

Abstract-Mobile technology have rapidly advanced over the years, successful researches of augmented reality on mobile phones under the different mobile platforms have made it possible to implement augmented reality technology on mobiles. Now the possibility of combining real time visual with augmented reality seems to be a success. This paper is simply to emphasize on combining real time visual with augmented reality technology on mobiles for education purpose. The research is based on how the implementation of real time visual translator on augmented reality mobile applications can help people in understanding/translating and give meanings to some writings displayed around them ubiquitously.

show abstract

Parallel Tracking and Mapping for Small AR Workspaces

Cited by 3,428 publications

References 20 publications

Vision based persistent localization of a humanoid robot for locomotion tasks

Vision based persistent localization of a humanoid robot for locomotion tasks

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Ubiquitous Mobile Real Time Visual Translator Using Augmented Reality for Bahasa Language

Contact Info

Product

Resources

About