Parallel Tracking and Mapping on a camera phone

  • Authors:

  • Georg Klein;David Murray

  • Affiliations:

  • Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK;Active Vision Laboratory, Department of Engineering Science, University of Oxford, UK

  • Venue:
  • ISMAR '09 Proceedings of the 2009 8th IEEE International Symposium on Mixed and Augmented Reality
  • Year:
  • 2009

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Abstract

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.