Parallel Tracking and Mapping on a Camera Phone

Conference item

Camera phones are a promising platform for hand-held augmented reality. As their computational resources grow, they are becoming increasingly suitable for visual tracking tasks. At the same time, they still offer considerable challenges: Their cameras offer a narrow field-of-view not best suitable for robust tracking; images are often received at less than 15Hz; long exposure times result in significant motion blur; and finally, a rolling shutter causes severe smearing effects. This paper describes an attempt to implement a keyframe-based SLAMsystem on a camera phone (specifically, the Apple iPhone 3G). We describe a series of adaptations to the Parallel Tracking and Mapping system to mitigate the impact of the device's imaging deficiencies. Early results demonstrate a system capable of generating and augmenting small maps, albeit with reduced accuracy and robustness compared to SLAM on a PC. ©2009 IEEE.

Authors: Klein, G; Murray, D

• Publication status: Published
• Host title: 2009 8TH IEEE INTERNATIONAL SYMPOSIUM ON MIXED AND AUGMENTED REALITY - SCIENCE AND TECHNOLOGY
• Pages: 83-86
• Publication date: 2009-01-01
• DOI: 10.1109/ISMAR.2009.5336495
• ISSN: 1554-7868
• ISBN: 9781424453887