Towards simultaneous recognition, localization and mapping for hand-held and wearable cameras

Castle, Robert O.; Gawley, Darren; Klein, Georg; Murray, D.W.

doi:10.1109/robot.2007.364109

Cited by 59 publications

(42 citation statements)

References 16 publications

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“…El Department of Engineering Science de la Universidad de Oxford (UK) desarrolló en 2008 un software denominado PTAMM (Parallel Tracking and Multiple Mapping) centrado en tareas de reconocimiento mediante mapeado visual aplicado a dispositivos portables del que se han derivado varias experiencias de realidad aumentada en espacios expositivos (Castle, 2009). Este software guiaba al usuario en el recorrido mediante un indicador virtual que buscaba aquellos elementos que podían visionarse utilizando la realidad aumentada.…”

Section: El Uso De La Realidad Aumentada En Las Guías Multimedia Paraunclassified

Guías multimedia con realidad aumentada en los museos del siglo XXI: la virtualidad como parte integrante del discurso expositivo

Torres

Gant

2017

MODOS: Rev. Hist. Arte

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Guías multimedia con realidad aumentada en los museos del siglo XXI: la virtualidad como parte integrante del discurso expositivo Augmented reality museum tours in the 21st century: virtuality as part of the exhibition Dr. David Ruiz Torres Dra. Mª Luisa Bellido Gant Como citar: TORRES, D.R.; GANT, M.L.B. Guías multimedia con realidad aumentada en los museos del siglo XXI: la virtualidad como parte integrante del discurso expositivo. MODOS. Revista de História da Arte. Campinas, v. 1, n.1, p.175-184, jan. 2017 ResumenMuchos museos están empezando a incluir la tecnología de realidad aumentada en su discurso expositivo, desarrollando diversas aplicaciones que permiten al individuo realizar la visita al museo utilizando su propio dispositivo portátil como una guía multimedia. Esto demuestra, por una parte, como estas instituciones han logrado tomar parte en el fenómeno social de los dispositivos portátiles de última generación; y por otro cómo la tecnología de realidad aumentada se ha utilizado como una herramienta útil para interpretar el bien cultural. Palavras-claveRealidad aumentada; museo; recorrido multimedia; dispositivos portátiles; app. AbstractMany museums are beginning to include augmented reality technology in its exhibition discourse, developing several apps to the public that allow the museum visit using their own portable device as a multimedia guide. This shows on the one hand, how these institutions have managed to take sides in the social phenomenon of last generation portable devices; and on the other how augmented reality technology has been used as a useful tool for interpreting the cultural object.

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Section: El Uso De La Realidad Aumentada En Las Guías Multimedia Paraunclassified

Guías multimedia con realidad aumentada en los museos del siglo XXI: la virtualidad como parte integrante del discurso expositivo

Torres

Gant

2017

MODOS: Rev. Hist. Arte

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“…In [4] it was shown that the inclusion of recognized object locations improved the quality of the map, and examples of object localization rescuing a failing SLAM process have been observed. However, this cannot be relied upon owing to the varying and relatively long time between object measurements.…”

Section: Delayed Object Insertionmentioning

confidence: 99%

“…In [4] this limitation was removed by using learned appearance models to recognize objects in the scene. As well as permitting graphical augmentation of the recovered map, it was found that incorporating the recognized objects' geometry into the map improved the robustness and accuracy of localization.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper we advance the method in [4] by proposing a novel implementation with a solution to providing synchronization between the localization process, which runs regularly at video rate, and the recognition process which takes both a considerably longer and variable time. We adapt the method of delayed decision making of Leonard and Rikoski [12], a method developed to enable the initialization of features using data from multiple steps.…”

Section: Introductionmentioning

confidence: 99%

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Video-rate recognition and localization for wearable cameras

Castle¹,

Gawley²,

Klein³

et al. 2007

Procedings of the British Machine Vision Conference 2007

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Using simultaneous localization and mapping to determine the 3D surroundings and pose of a wearable or hand-held camera provides the geometrical foundation for several capabilities of value to an autonomous wearable vision system. The one explored here is the ability to incorporate recognized objects into the map of the surroundings and refer to them. Established methods for feature cluster recognition are used to identify and localize known planar objects, and their geometry is incorporated into the map of the surrounds using a minimalist representation. Continued measurement of these mapped objects improves both the accuracy of estimated maps and the robustness of the tracking system. In the context of wearable (or hand-held) vision, the system's ability to enhance generated maps with known objects increases the map's value to human operators, and also enables meaningful automatic annotation of the user's surroundings.

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“…However, the method relies solely on geometric information and thus planes may not correspond to physical scene structure. In [13], Castle et al detect the presence of planar objects for which appearance knowledge has been learned a priori and then use the known geometric structure to allow insertion of the objects into the map. This gives direct relationship to physical structure but at the expense of prior user interaction.…”

Section: Introductionmentioning

confidence: 99%

Appearance Based Extraction of Planar Structure in Monocular SLAM

Martínez-Carranza

Calway

2009

Image Analysis

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Abstract. This paper concerns the building of enhanced scene maps during real-time monocular SLAM. Specifically, we present a novel algorithm for detecting and estimating planar structure in a scene based on both geometric and appearance and information. We adopt a hypothesis testing framework, in which the validity of planar patches within a triangulation of the point based scene map are assessed against an appearance metric. A key contribution is that the metric incorporates the uncertainties available within the SLAM filter through the use of a test statistic assessing error distribution against predicted covariances, hence maintaining a coherent probabilistic formulation. Experimental results indicate that the approach is effective, having good detection and discrimination properties, and leading to convincing planar feature representations 1 .

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Towards simultaneous recognition, localization and mapping for hand-held and wearable cameras

Cited by 59 publications

References 16 publications

Guías multimedia con realidad aumentada en los museos del siglo XXI: la virtualidad como parte integrante del discurso expositivo

Guías multimedia con realidad aumentada en los museos del siglo XXI: la virtualidad como parte integrante del discurso expositivo

Video-rate recognition and localization for wearable cameras

Appearance Based Extraction of Planar Structure in Monocular SLAM

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