Foundations and Trends in Robotics
Relocalization using virtual keyframes for online environment map construction
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Active matching for visual tracking
Robotics and Autonomous Systems
Efficient off-road localization using visually corrected odometry
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IEEE Transactions on Multimedia
International Journal of Robotics Research
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
International Journal of Robotics Research
Wide-area augmented reality using camera tracking and mapping in multiple regions
Computer Vision and Image Understanding
Editor's Choice Article: Video-based, real-time multi-view stereo
Image and Vision Computing
Evaluation of Interest Point Detectors and Feature Descriptors for Visual Tracking
International Journal of Computer Vision
Mobile surveillance by 3D-outlier analysis
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume Part I
Real-time camera tracking using a global localization scheme
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Mobile video surveillance systems: an architectural overview
Mobile Multimedia Processing
Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines
International Journal of Computer Vision
Parallel tracking and mapping for controlling VTOL airframe
Journal of Control Science and Engineering
Integrating the physical environment into mobile remote collaboration
MobileHCI '12 Proceedings of the 14th international conference on Human-computer interaction with mobile devices and services
Interactive object modelling based on piecewise planar surface patches
Computer Vision and Image Understanding
Geometric particle swarm optimization for robust visual ego-motion estimation via particle filtering
Image and Vision Computing
Vision-based place recognition: how low can you go?
International Journal of Robotics Research
Efficient keyframe-based real-time camera tracking
Computer Vision and Image Understanding
C2TAM: A Cloud framework for cooperative tracking and mapping
Robotics and Autonomous Systems
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The ability to localise a camera moving in a previously unknown environment is desirable for a wide range of applications. In computer vision this problem is studied as monocular SLAM. Recent years have seen improvements to the usability and scalability of monocular SLAM systems to the point that they may soon find uses outside of laboratory conditions. However, the robustness of these systems to rapid camera motions (we refer to this quality as agility) still lags behind that of tracking systems which use known object models. In this paper we attempt to remedy this. We present two approaches to improving the agility of a keyframe-based SLAM system: Firstly, we add edge features to the map and exploit their resilience to motion blur to improve tracking under fast motion. Secondly, we implement a very simple inter-frame rotation estimator to aid tracking when the camera is rapidly panning --- and demonstrate that this method also enables a trivially simple yet effective relocalisation method. Results show that a SLAM system combining points, edge features and motion initialisation allows highly agile tracking at a moderate increase in processing time.