Online 6 DOF augmented reality registration from natural features.
INTERNATIONAL SYMPOSIUM ON MIXED AND AUGMENTED REALITY, PROCEEDINGS.
(pp. 305 - 313).
IEEE COMPUTER SOC
We present a complete scalable system for 6 d.o.f. camera tracking based on natural features. Crucially, the calculation is based only on pre-captured reference images and previous estimation of the camera pose and is hence suitable for online applications. We match natural features in the current frame to two spatially separated reference images. We overcome the wide baseline matching problem by matching to the previous frame and transferring point positions to the reference images. We then minimize deviations from the two-view and three-view constraints between the reference images and the current frame as a function of the camera position parameters. We stabilize this calculation using a recursive form of temporal regularization that is similar in spirit to the Kalman filter. We can track camera pose over hundreds of frames and realistically integrate virtual objects with only slight filter.
|Title:||Online 6 DOF augmented reality registration from natural features|
|Event:||International Symposium on Mixed and Augmented Reality|
|Dates:||2002-09-30 - 2002-10-01|
|Keywords:||augmented reality, natural feature tracking, visual registration, camera pose estimation, IMAGE|
|UCL classification:||UCL > School of BEAMS
UCL > School of BEAMS > Faculty of Engineering Science
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