Keyframe-based SLAM for hand-held Augmented Reality

Augmented Reality requires accurate camera pose estimates to correctly render virtual graphics into the real world. In unknown or partially known enviroments, visual SLAM (Simultanesous Localisation and Mapping) can provide this while also estimating the geometry of the enviroment.

This talk argues that the traditional approach to visual SLAM – to jointly optimise camera pose and a 3D map of features at 30Hz – is inappropriate for AR. Instead I propose to build the map from a small sub-set of the observed frames, and show that this approach improves the quality of the generated maps. Further I propose to de-couple the map-building process from frame-to-frame tracking: This allows the use of a wealth of robust tracking techniques, resulting in a SLAM system capable of withstanding some (but not all) the rigors of hand-held AR.

Speaker Details

Georg Klein, originally from Austria, received his PhD from the University of Cambridge in 2006. He is now a post-doc with the Active Vision Group of the University of Oxford, where he works with Prof. David Murray to develop computer vision techniques for Augmented Reality.

Date:
Speakers:
Georg Klein
Affiliation:
University of Oxford