Publikation
Using Optical Flow as Lightweight SLAM Alternative
Gabriele Bleser; Gustaf Hendeby
In: Proceedings of the International Symposium on Mixed and Augmented Reality. IEEE International Symposium on Mixed and Augmented Reality (ISMAR-2009), October 19-22, Orlando, Florida, USA, IEEE, 10/2009.
Zusammenfassung
Visual simultaneous localisation and mapping (SLAM) is since the
last decades an often addressed problem. Online mapping enables
tracking in unknown environments. However, it also suffers from
high computational complexity and potential drift. Moreover, in
augmented reality applications the map itself is often not needed
and the target environment is partially known, e.g. in a few 3D anchor
or marker points. In this paper, rather than using SLAM, measurements
based on optical flow are introduced. With these measurements,
a modified visual-inertial tracking method is derived,
which in Monte Carlo simulations reduces the need for 3D points
and allows tracking for extended periods of time without any 3D
point registrations.