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Object Recognition and Localization while Tracking and Mapping

Abstract:

This paper demonstrates how objects can be recognized, reconstructed, and localized within a 3D map, using observations and matching of SIFT features in keyframes. The keyframes arise as part of a frame-rate process of parallel camera tracking and mapping, in which the keyframe camera poses and 3D map points are refined using bundle adjustment. The object reconstruction process runs independently, and in parallel to, the tracking and mapping processes. Detected objects are automatically label...

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Publication status:
Published

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Publisher copy:
10.1109/ISMAR.2009.5336477

Authors


Castle, RO More by this author
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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Pages:
179-180
Publication date:
2009
DOI:
URN:
uuid:4335adb3-135b-4bca-8556-acd7569a1354
Source identifiers:
63782
Local pid:
pubs:63782
ISBN:
978-1-4244-5388-7

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